ModalAI Forum

@Alex-Kushleyev Awesome Thank you!

As others have experienced, we are also having GPS EMI issues. What is the name of the STEP file on your downloads page?

I built/pushed the voxl-docker-mavsdk image onto the VOXL2, following this tutorial:
https://www.youtube.com/watch?v=Q6pph-VqAEM

Started adb shell and navigated to /data/docker/mavsdk.
Executing run-docker.sh indicates that docker is not present. I thought all newer VOXL2 FlightDecks had Docker already installed?
Did I miss something?

Here is output from voxl-version: - Any help would be appreciated.

voxl2:/data/docker/mavsdk$ voxl-version

system-image: 1.7.8-M0054-14.1a-perf
kernel: #1 SMP PREEMPT Fri May 17 23:29:23 UTC 2024 4.19.125

hw platform: M0054
mach.var: 1.0.0

voxl-suite: 1.3.2

Packages:
Repo: http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-1.3/binary-arm64/
Last Updated: 2023-03-07 14:59:31
List:
kernel-module-voxl-fsync-mod-4.19.125 1.0-r0
kernel-module-voxl-gpio-mod-4.19.125 1.0-r0
kernel-module-voxl-platform-mod-4.19.125 1.0-r0
libfc-sensor 1.0.7
libmodal-cv 0.5.8
libmodal-exposure 0.1.0
libmodal-journal 0.2.2
libmodal-json 0.4.3
libmodal-pipe 2.10.1
libqrb5165-io 0.4.6
libvoxl-cci-direct 0.2.3
libvoxl-cutils 0.1.1
modalai-slpi 1.1.19
mv-voxl 0.1-r0
qrb5165-bind 0.1-r0
qrb5165-dfs-server 0.2.0
qrb5165-imu-server 1.0.1
qrb5165-rangefinder-server 0.1.3
qrb5165-slpi-test-sig 01-r0
qrb5165-system-tweaks 0.3.0
qrb5165-tflite 2.8.0-2
voxl-bind-spektrum 0.1.1
voxl-camera-calibration 0.5.6
voxl-camera-server 1.9.8
voxl-ceres-solver 2:1.14.0-10
voxl-configurator 0.7.7
voxl-cpu-monitor 0.4.8
voxl-cross-template 0.0.1
voxl-docker-support 1.3.1
voxl-elrs 0.2.1
voxl-esc 1.4.4
voxl-feature-tracker 0.3.14
voxl-flow-server 0.3.6
voxl-fsync-mod 1.0-r0
voxl-gphoto2-server 0.0.10
voxl-gpio-mod 1.0-r0
voxl-jpeg-turbo 2.1.3-5
voxl-lepton-server 1.2.2
voxl-lepton-tracker 0.0.1
voxl-libgphoto2 0.0.4
voxl-libuvc 1.0.7
voxl-logger 0.4.3
voxl-mavcam-manager 0.5.6
voxl-mavlink 0.1.1
voxl-mavlink-server 1.4.2
voxl-modem 1.1.3
voxl-mongoose 7.7.0-1
voxl-mpa-to-ros 0.3.9
voxl-mpa-tools 1.1.9
voxl-neopixel-manager 0.0.3
voxl-open-vins 0.4.12
voxl-open-vins-server 0.2.59
voxl-opencv 4.5.5-2
voxl-platform-mod 1.0-r0
voxl-portal 0.6.9
voxl-px4 1.14.0-2.0.79
voxl-px4-imu-server 0.1.2
voxl-px4-params 0.4.7
voxl-qvio-server 1.0.4
voxl-remote-id 0.0.9
voxl-reset-slpi 0.0.1
voxl-state-estimator 0.0.2
voxl-streamer 0.7.4
voxl-suite 1.3.2
voxl-tag-detector 0.0.4
voxl-tflite-server 0.3.4
voxl-utils 1.4.2
voxl-uvc-server 0.1.7
voxl-vision-hub 1.8.3
voxl-vtx 1.0.3
voxl2-io 0.0.3
voxl2-system-image 1.7.8-r0
voxl2-wlan 1.0-r0

@Eric-Katzfey We think that Gazebo is transmitting over the serial link based on the following observation. While running Gazebo,
if we power off the VOXL2 FlightDeck Gazebo reports the following:
Exception sending a multicast message:Network is unreachable
If we unplug the FTDI cable from the host Gazebo reports the following:
Tx queue overflow
By the way, the FTDI cable we are using is the MODAL AI MCBL-00091 - we tried two different cables with the same results.
The hardware configuration is a VOXL2 FlightDeck. Could there be anything special we need to do to configure the FlightDeck?

@Eric-Katzfey We finally determined that the heart beat messages were going over an ethernet port and not from the FTDI cable. If I unplug the ethernet connection then we don't get heartbeats any longer. Is there a way to configure the VOXL2 to always use the FTDI connection via J18 on the board or should it just work?

@Eric-Katzfey
The only difference I see is that I'm getting these status messages and you do not:
libcurl: (28) Failed to connect to fuel.ignitionrobotics.org port 443: Connection timed out
libcurl: (28) Failed to connect to fuel.gazebosim.org port 443: Connection timed out

Could this be a problem? Those websites do not appear to exist any longer. Also, if the serial cable was bad how would Wireshark be able to pick up heartbeats from HITL on VOXL2?

Hi -
I'm having issues getting HITL running with ModalAI's Gazebo Docker container while following the instructions below:
https://docs.modalai.com/voxl2-PX4-hitl/#gazebo-setup

1. FTDI cable is connected to J18 and linux host (Ubuntu 22.04)
2. Starting the Docker Gazebo instance reports the following:
   Opened serial device /dev/ttyUSB0
   libcurl: (28) Failed to connect to fuel.ignitionrobotics.org port 443: Connection timed out
   libcurl: (28) Failed to connect to fuel.gazebosim.org port 443: Connection timed out
   ** Gazebo appears to start successfully.
3. In adb shell I run: voxl-px4-hitl
4. Here is an excerpt from that output:

INFO [mavlink] mode: Normal, data rate: 100000 B/s on udp port 14558 remote port 14559
INFO [muorb] SLPI: Marking DeviceNode(telemetry_status) as advertised in process_remote_topic
INFO [muorb] SLPI: Too many arming check events (1, 14 > 14). Not reporting all
INFO [muorb] SLPI: Preflight Fail: No valid data from Accel 0
INFO [muorb] SLPI: Preflight Fail: barometer 0 missing
INFO [muorb] SLPI: Preflight Fail: ekf2 missing data
INFO [muorb] SLPI: Preflight Fail: No valid data from Gyro 0
INFO [muorb] SLPI: Preflight Fail: Compass Sensor 0 missing
INFO [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network)
INFO [px4] Startup script returned successfully

==> Note that there are many Preflight check failures.

5. Running dsp_hitl status returns this:
   INFO [muorb] SLPI: Running: yes
   INFO [muorb] SLPI: Status of IMU_Data counter: 0
   INFO [muorb] SLPI: Value of current accel x, y, z data: 0.000000, 0.000000, 0.000000
   INFO [muorb] SLPI: Value of current gyro x, y, z data: 0.000000, 0.000000, 0.000000
   INFO [muorb] SLPI: Value of HIL_Sensor counter: 0
   INFO [muorb] SLPI: Value of Heartbeat counter: 15
   INFO [muorb] SLPI: Value of Vision data counter: 0
   INFO [muorb] SLPI: Value of odometry counter: 0
   INFO [muorb] SLPI: Value of GPS Data counter: 0
   INFO [muorb] SLPI: Ok executing command: dsp_hitl status

==> Note that accel & gyro data are always zero AND only the heartbeat counter is incrementing.

6. Inspection via Wireshark reveals that only heartbeat messages are flowing.

Any help would be greatly appreciated