Is there a way to access the kernel serial debug port on M0090? It seems there are FTDI components but they are not populated.

@tahawaru Here is some documentation on configuring VIO https://docs.modalai.com/flying-with-vio/

PX4 does not currently handle GPS and VIO concurrently. It is something that we have worked with the PX4 developers on for more than 2 years.

It's a complicated problem though that we keep working to improve. To start experimenting, and hopefully helping to develop that feature, read through PX4's documentation on EKF2.

To debug VIO, look to this area of the documentation specifically https://docs.modalai.com/flying-with-vio/#troubleshooting-vio

@Jetson-Nano Looks like MPC_POS_MODE is needed as well per the documentation https://docs.px4.io/main/en/computer_vision/collision_prevention.html

voxl-mapper has been working on VOXL 2 for about a year. It should work out of the box on a Starling.

What you may be referring to is better documentation for using with stereo sensors instead of TOF sensors, but in general the voxl-mapper package is working.

This video shows how it works - https://www.youtube.com/watch?v=gqlSKRP8prc&ab_channel=ModalAI

When making a request for support, there are some key pieces of information that really help speed up the support process. Please try to include the following when making a request:

• What hardware are you using? If you have specific SKU or serial number, that is also helpful
• What version of software are you using? voxl-version is very helpful for determining software version.
• How have you configured the software? What is the output of voxl-inspect-services
• Do you have any logs? Uploading PX4 logs to https://logs.px4.io can be very helpful. See details on PX4 logs here
• Can you share pictures of your setup?
• Have you looked at the source code? If so, can you point to any potential issues?

If you see the sensor in the portal, you have the sensor configured properly.

By fails to calibrate, are you using voxl-camera-calibration ?

if you viewed the data through voxl-portal, it would already be rotated properly.

The Starling's extrinsic parameters can be found here, which should help you configure your URDF

@Amir-Avni On VOXL 2, voxl-mapper runs < 10% of CPU in typical configurations, on VOXL 1 < 30% of CPU

@Sanket-Shah voxl-inspect-cam can be used to verify it's working and see related stats. You need a GUI of some kind to actually view the image, which requires a network

@tiralonghipol if you viewed the data through voxl-portal, it would already be rotated properly. It's not clear which viewer you are using for the data.

The Starling's extrinsic parameters can be found here, which should help you configure your tools

Test that is failing:

• Installed the new ESC on our test platform and started the motors – the motor on ESC3 (zero-based) is shaking.
• Reinstalled the old ESC (with the broken MOSFET part) – the motor on ESC3 (zero-based) runs without any problem.
• Reinstalled the new ESC again – the same issue from Test 1 occurs.

We also noticed that the new ESC is reported as version 44, showing the message “Unknown Board.”

Could you please advise on the next steps to resolve this?

@Idan-Fiksel Is the calibration card mounted to a hard backing piece so there are no warps or wrinkles in the checkerboard?

Did you print with a PDF so that the checkerboard measurements are accurate?

@Breanne-Crockett yes, the depth sensor is pointed straight forward

We do not have support for Realsense

@lohithvamsi it is probably easiest to return

Please reach out at https://modalai.com/contact and reference this post.

You might have both qvio and openvins running? That could lead to issues. Only one should be running at a time

have you looked through the troubleshooting guide? https://docs.modalai.com/flying-with-vio/#troubleshooting-vio

Usually looking at the ovins-overlay in voxl-portal offers good insight

The common issues are vibration is too high, the extrinsics are incorrect or there are not enough features to track in the environment

@QSL here is our app note on thermal https://docs.modalai.com/voxl2-thermal-performance/#thermal-performance

@cmall the VOXL 2 IO connects via UART. You could use any breakout board, like an Arduino, to generate PWM

@VictorG have you looked at the instructions here? https://docs.modalai.com/flight-core-v2-usb-to-qgc/

@Daniel-Rincon have you looked through the troubleshooting guide? https://docs.modalai.com/flying-with-vio/#troubleshooting-vio

Usually looking at the ovins-overlay in voxl-portal offers good insight

The common issues are vibration is too high, the extrinsics are incorrect or there are not enough features to track in the environment

The easiest way to connect an IMX412, AR0144 and TOF would be to follow the Starling 2 architecture found here: https://docs.modalai.com/voxl2-d0014/

To just connect the TOF directly to VOXL 2, the M0172 is likely what you are looking for: https://www.modalai.com/products/mdk-m0172-1-00