ModalAI Forum

@relevinsky What steps are you doing to compile the voxl-tflite-server code? It should be done within the voxl-cross Docker image. Also why SDK 0.9? Let me know how I can help. Thomas thomas.patton@modalai.com

@relevinsky , i don't have a good example to point you to.. you would need to modify the code on the web GUI side and the code that is running on voxl-portal Voxl. VOXL sends all the information to the browser via web sockets. Here is where video stats (including fps) are sent : https://gitlab.com/voxl-public/voxl-sdk/services/voxl-portal/-/blob/master/src/video_group_manager.cpp?ref_type=heads#L313 and there is the browser code that parses the video stats https://gitlab.com/voxl-public/voxl-sdk/services/voxl-portal/-/blob/master/web_root/video.html#L588. I would suggest first experimenting with existing data structure, such as VideoStats and see if you change the data on the VOXL side, make sure it shows up correctly in voxl-portal. After that, you could change the VideoStats structure add a message to it and also print it in the browser. After understanding how the message passing works, you could add your own message definition on both sides and display the contents. I hope this helps. Alex

@voxltester Again, LW20 is not in the px4 build. Until you rebuild px4 with that driver you cannot use it within px4. So, you have 2 choices. Rebuild PX4 and try to get LW20 working within PX4 or take a look at the source code for voxl-rangefinder-server and see if you can add support for LW20 into that. It currently supports the vl53l1x rangefinder. Perhaps you can just switch to that rangefinder model? Otherwise the source code it here: https://gitlab.com/voxl-public/voxl-sdk/services/qrb5165-rangefinder-server

https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-to-ros/-/blob/master/catkin_ws/src/src/interface_manager.cpp?ref_type=heads#L148 https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-to-ros/-/blob/master/catkin_ws/src/src/interfaces/ai_detection_interface.cpp?ref_type=heads

@Eric-Katzfey yes

@relevinsky You're right, we are going through an overhaul of the docs at the moment, here's an archived link: https://docs.modalai.com/voxl-logger-0_9/

@relevinsky For now your best bet will be to get an add on card that has a UART available for the applications processor. Future software releases will provide access to a UART on the DSP (As long as the flight controller isn't running) but that is not available today.

@relevinsky reposting my answer from another thread: The VOXL SDK projects aren't meant to be built on VOXL2 itself. We offer a few different docker images to build on a PC, voxl-qvio-server on VOXL2 is built using qrb5165 emulator: https://docs.modalai.com/voxl-emulator/#install-the-voxl-emulator-docker-image while some other projects are built using voxl-cross: https://docs.modalai.com/voxl-cross/#install-pre-built-voxl-cross

@relevinsky The VOXL SDK projects aren't meant to be built on VOXL2 itself. We offer a few different docker images to build on a PC, voxl-qvio-server on VOXL2 is built using qrb5165 emulator: https://docs.modalai.com/voxl-emulator/#install-the-voxl-emulator-docker-image while some other projects are built using voxl-cross: https://docs.modalai.com/voxl-cross/#install-pre-built-voxl-cross

To build voxl-qvio-server, please follow the instructions in the README. The instructions are validated nightly by the CI The first paragraph of the README explains the following: "Due to MV SDK being 32-bit only, this is the only 32-bit package for QRB5165. The APQ8096 package builds in voxl-emulator, the QRB5165 package builds in qrb5165-emulator using a 32-bit cross compiler installed in the emulator." the only way to build that package is to follow the instructions in the README. Installing your own compiler will not work, you need to use the toolchain provided.

voxl-replay should be working on VOXL 2.

Mavlink messages for setting flight mode use the MAVLINK_MSG_ID_SET_MODE message type (same as APM). Modes are defined in the uOrb layer under the vehicle_status.msg fie, which C headers are auto-generated at build time. The auto-generated file is under the build directory as vehicle_status.h via the NAVIGATION_STATE_* variables. And example of using modes in runtime code are in the mavlink_messages.cpp file (search for vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION) and modes are processed in the Commander.cpp file. Both files under the src/modules directory of PX4.

I'm looking to use a parameter which was introduced in PX4 v1.12. So I'm also interested in when PX4 v1.12 for VOXL Flight will be released. Do you have any estimate on that?

@relevinsky said in voxl flight connects to LTE,receives static IP and didn't connects to QC (my PC) with static IP as well: commercial LTE modem with static IP as well Oops, Tom pointed out commercial LTE modem with static IP as well, never mind!

@relevinsky That is not the way LTE works. You connect to a commercial network. If you need static IPs then you need to contact your service provider and find out how to get them. That is why we use a VPN when using LTE. See https://docs.modalai.com/voxl-vpn/ for more explanation.

Can you post the contents of the file that's broken? (/etc/modalai/voxl-qvio-server.conf). Running voxl-configure-qvio and wiping the config file should generate a valid file for qvio to read. Additionally, can you post the output of voxl-versionto show the version of your software packages.