Posts made by madswamp

@Alex-Kushleyev, yes, we will do just that, connect a USB Hub to the USB 3.0 Port and connect it to the Hub, that way we still have the USB available for the WiFi and other possible sensors.
Thank you for your response.

Hello,
I have a VOXL2 to which I need to connect two extra sensors that communicate using serial.
One of the sensors (barcode reader) which I connected to /dev/ttyHS1 using the VOXL 2 USB3.0 / UART Expansion Adapter is already working.
The problem is where to connect the second sensor (LIDAR), since we tried to connect it to the J19 QUP6 UART, that worked but only if the voxl-px4 is not running, as stated by your documentation.
Since we wont use any GPS is there anyway to be able to read the data from the sensor using the libqrb5165-io even when voxl-px4 is running?
Is there any other serial port available?
Thank you.

@Thomas-Patton any updates on this issue?

Hello devs,

I have developed a new algorithm that is able to give me the XYZ and Yaw of the Sentinel drone.
I intend to use this 4dof pose as relocalization for the VIO algorithm.
The 4dof is being published as a ROS topic and the last step is to be able to publish this 4dof data to the vvhub_fixed_pose_input pipe.
I did not find any example on how to do it in the voxl-mpa-ros, can you point me in the right direction.
Also, I noticed that in the SDK 1.0, the parameter en_fixed_frame_pipe is missing from the voxl-vision-hub.conf file, do I need to add it in order to be able to use the pipe?

Thank you

@Thomas-Patton Got the same problem. What I noticed is that when I run the dfs server manually I can see some points in the voxl portal, but after half a second I get the stack smashing detected and no more points. My dfs server conf is the following:

/**
 * This file contains configuration parameters for voxl-dfs-server.
 * You can specify up to 2 pairs to do detection on simultaneously.
 *
 *
 * min_disparity:     minimum disparity that is checked, default 4 since objects
 *                    really far away are hard to detect reliably anyway.
 *
 * max_disparity:     default 64, can decrease to improve latency slightly
 *                    maximum value is 64, 48 is a good option
 *
 * min_threshold:     must be <= cost_threshold, typically the same as cost_threshold,
 *                    must be in the range [0,100], default 10
 *
 * cost_threshold:    must be in the range [0,100], default 10. Lower numbers will
 *                    be more conservative and only detect matches with higher confidence
 *
 * width/ height:     All input images must have this resolution
 *
 * pc_skip_n_lines:   lines/columns to skip when outputting a point cloud. Set to
 *                    0 to output one point for every pixel, althought this is not
 *                    recommended since the resoluting point cloud would be huge.
 *                    default is 4, meaning generate point for every 5th row/column
 *
 * blur_size:         Optional gaussian blur before stereo match for particularly
 *                    noisy images. Off by default. Must be an odd number or set 
 *                    to 0 to disable.
 *
 * skip_n_frames:     Automatically skip this number of input frames. Default 1 meaning
 *                    every other stereo frame is processed. Frames will be Automatically
 *                    skipped if the cpu can't keep up.
 *                    
 * post_median_size:  optional median filter after disparity matching. Can help to
 *                    reduce speckles but that's usually best done in 3D not 2D.
 *                    Off by default. Must be an odd number if you turn it on, a good
 *                    starting point is 15. This requires additional CPU.
 *
 */
{
	"min_disparity":	4,
	"max_disparity":	64,
	"min_threshold":	10,
	"cost_threshold":	10,
	"width":	640,
	"height":	480,
	"pc_skip_n_lines":	4,
	"dfs_pair_0":	{
		"enable":	true,
		"input_pipe":	"stereo_front",
		"skip_n_frames":	1,
		"blur_size":	0,
		"post_median_size":	0,
		"intrinsics_file":	"/data/modalai/opencv_stereo_front_intrinsics.yml",
		"extrinsics_file":	"/data/modalai/opencv_stereo_front_extrinsics.yml"
	},
	"dfs_pair_1":	{
		"enable":	true,
		"input_pipe":	"stereo_rear",
		"skip_n_frames":	1,
		"blur_size":	0,
		"post_median_size":	0,
		"intrinsics_file":	"/data/modalai/opencv_stereo_rear_intrinsics.yml",
		"extrinsics_file":	"/data/modalai/opencv_stereo_rear_extrinsics.yml"
	}
}

I am also using the 1.0.0 SDK with the stock sentinel platform.
Hope it helps solving the problem.

Hello devs,

I have been testing the relocalization with apriltags and I have noticed that it only works with tags on the ground (if both roll and pitch are less than 10 º off).
I was wandering if there is a fast way to change the already existing code to be able to also use tags on the walls, or is it better to do the detections myself and publish them to the fixed frame pipe.
I also noticed that in the version 1.0 of the VOXL SDK the en_fixed_frame_pipe parameter no longer exist, is the user-provided localization option still being implemented in this new version?

Thank you.

Fixed the problem already, had to disable channel mapping in the configurations of the protocol in the controller.

Thank you.

According to the TX16S specification, the 4 in 1 transmitter (which I'm using) is compatible with SPEKTRUM DSM2/DSMX. Which is inline with the behavior of the LED on the receiver.

Hello, I'm trying to bind my Radiomaster TX16S remote controller to the Sentinel drone.
After following the quickstart guide instructions, I'm able to put the SPEKTRUM receiver in binding mode via SSH (LED starts blinking), bind the TX16S to the receiver (LED stays on continuously). After this procedure I power cycled the Drone, and it appears that the receiver is still binded with the controller.

However, opening QGC there is no RC controller connected and when I try to calibrate the controller, the following error appears :
"Detected 0 radio channels. To operate PX4 you need at least 5 channels".

I used the following configuration in the remote controller
"DSM Auto".

After binding it changed to
"DSM X 1F".

Is there any problem with this setup?

Thank you.