Topics created by LucasW

@LucasW to answer my own question, VOXL supports 5 GHz. This can be verified by running iw list and looking at the supported channels.

The /data/misc/wifi/wpa_supplicant.conf file does not seem to take effect when trying to specify frequencies, for instance (for 5 GHz channels 36, 40, 44, and 48:

country=ch ctrl_interface=/var/run/wpa_supplicant network={ ssid="my-ssid" bssid=00:00:00:00:00:00 freq_list=5180 5200 5220 5240 scan_freq=5180 5200 5220 5240 proto=RSN key_mgmt=WPA-PSK pairwise=CCMP TKIP group=CCMP TKIP psk="my-pwd" }

The only way I found to connect to 5 GHz is to disable the 2.4 GHz radio entirely on the router. Otherwise, the connection defaults to 2.4 GHz.
On the router, it is also better to set a fixed channel (e.g., 36) rather than letting it be automatic. In auto mode, the robots could not connect systematically to the network.

Note also that my question was wrong in the sense that the hostapd.conf files are used to generate the access point, not to connect in station mode.

These are maybe considerations that could be added to the technical doc @Chad-Sweet ?

I tried swapping the tof camera with a spare one I had around. The spare tof worked immediately without issue. I then disconnected the spare tof, configured the camera server with only hires and tracking (with no connected tof camera, which worked fine). I then tried to plug back in the original tof and it started working again. So nothing changed, just unplugged and plugged back the tof camera and reflected the changes by configuring the camera server accordingly, weird...

Alright, solved it. I adjusted the MCS pose rate to be at 30 Hz (should be fine up to 50 Hz according to PX4 documentation), although this does not seem to have any significant impact.

The problem was that the EKF2_AID_MASK must be set to 24 (only position and yaw fusion) for motion capture, instead of 280 (default with VIO, which sends odometry messages including velocities). Hence the following fields must be set as follows:

...
vision position fusion
vision yaw fusion
...
vision velocity fusion <-- Disable for Motion Capture (enabled by default for VIO)

I did not have to modify any other parameters.

@James-Strawson, thanks again for the help!

I do not think I have access to this slack. It seems restricted to a few specific people only. But I tried their forum. Thanks anyway!