@tom is voxl-gphoto2-server
using the whole gphoto2 package? Or is it a custom build of gphoto2?
Posts made by restore
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RE: Does VOXL2 come with gphoto2 installed?
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Does VOXL2 come with gphoto2 installed?
I would like to use gphoto2 to operate a DSLR camera on our drone. I see that our VOXL2 came with voxl-gphoto2-server on it, but is there a way to use the base gphoto2 commands? Where is it installed (if it is) and can I use simple commands like
gphoto2 --capture-image-and-download
?If it is not installed - can you please give instructions on the easiest way to get gphoto2 installed on the VOXL2 without connecting it to the internet. We have a requirement that it stay offline so it would need to be installed through the host computer.
Thank you!
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RE: Drone flipped upside down when switched to manual mode
@Alex-Kushleyev Thank you for catching that.
ESC info below:
Board : version 42: ModalAi 4-in-1 ESC (M0138-1) UID : 0x203330385246571200450053 Firmware : version 39, hash 17d64675 Bootloader : version 184, hash e1c038de
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RE: Drone flipped upside down when switched to manual mode
- T-Motor Antigravity MN5006 Motor with P18*6.1 Props
- We are running a 6S Li-ion battery.
- yes we did the ESC tuning after following the low kv instructions you gave us in the ESC Power monitor thread
It has seemed like we didn't have things right - without props, the motors didn't want to spin. We are fine down to 500 RPM with props.
The min RPM in QGC was 1000 and we tuned the max to match the highest that the motors could spin at (around 10500)
Params file is below:
<?xml version="1.0" encoding="UTF-8"?> <!-- Copyright (c) 2020 ModalAI Inc. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. 4. The Software is used solely in conjunction with devices provided by ModalAI Inc. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. For a license to use on non-ModalAI hardware, please contact license@modalai.com --> <!-- Sentinel v1 parameters for 3 cell battery, SunnySky 2216 880kv Motors & 10inch M-propellers --> <EscParameters> <IdParams> <param name="id" value="127"/> <!-- 0-7 .. 127 means use hardware ID pins to read ID--> <param name="dir" value="2"/> <!-- 0=fwd, 1=rev, 2=fwd id-based, 3=rev id-based --> </IdParams> <UartParams> <param name="protocol_version" value="2"/> <!-- reserved for future use --> <param name="input_mode" value="0"/> <!-- reserved for future use --> <param name="baud_rate" value="2000000"/> <!-- communication bit rate --> <param name="char_timeout_ns" value="0"/> <!-- not used --> <param name="cmd_timeout_ns" value="100000000"/> <!-- timeout for incoming commands before ESC will stop the motor --> </UartParams> <TuneParams> <param name="pwm_frequency" value="48000"/> <!-- switching freqency of PWM signal going to motors. 24Khz and 48Khz are only options for now --> <param name="vbat_nominal_mv" value="22200"/> <!-- used for sanity checking and limiting of voltage-dependent funcions --> <param name="num_cycles_per_rev" value="7"/> <!-- number of pole pairs in the motor. used for converting electrical frequency to mechanical rpm --> <param name="min_rpm" value="1500"/> <!-- minimum RPM that will be attempted, otherwise capped --> <param name="max_rpm" value="7400"/> <!-- maximum RPM that will be attempted, otherwise capped --> <param name="min_pwm" value="75"/> <!-- cap for minimum power to be ever applied. max is 999 --> <param name="max_pwm" value="999"/> <!-- cap for maximum power to be ever applied. max is 999 --> <param name="pwm_vs_rpm_curve_a0" value="823"/> <!-- this is actually motor_voltage vs rpm curve.. using legacy naming --> <param name="pwm_vs_rpm_curve_a1" value="0.5"/> <param name="pwm_vs_rpm_curve_a2" value="0.0003"/> <param name="kp" value="60"/> <!-- RPM controller proportional gain --> <param name="ki" value="20"/> <!-- RPM controller proportional gain --> <param name="max_kpe" value="300"/> <!-- maximum proportional erorr term (max is 999) --> <param name="max_kie" value="100"/> <!-- maximum integral error term (max is 999) --> <param name="max_rpm_delta" value="900"/> <!-- cap for maximum rpm error used in RPM controller --> <param name="spinup_type" value="1"/> <!-- 0: traditional, 1: sinusoidal --> <param name="spinup_power" value="150"/> <!-- power used to during spin-up procedure --> <param name="latch_power" value="120"/> <!-- power used during latching stage of spin-up (out of 999)--> <param name="spinup_power_ramp" value="8"/> <!-- it will take ( 4096 / (spinup_power_ramp*10000) ) seconds to ramp sinusoidal start-up power from 0 to spinup_power --> <param name="spinup_rpm_target" value="1000"/> <!-- Desired RPM at the end of the sinusoidal spin-up procedure --> <param name="spinup_time_ms" value="1000"/> <!-- Duration of the sinusoidal spin-up procedure --> <param name="spinup_bemf_comp" value="1"/> <!-- 0: disable, 1:enable back-emf compensation in sinusoidal spin-up procedure --> <param name="motor_kv" value="450"/> <!-- kV value of the motor. used in back-emf compensation during spin-up --> <param name="min_num_cross_for_closed_loop" value="5"/> <!-- exit latching mode of fixed power after this number of zero crossings --> <param name="protection_stall_check_rpm" value="500"/> <!-- if motor spins below this RPM, stall check will trigger and stop / restart the motor --> <param name="brake_to_stop" value="0"/> <!-- apply brake when stopping motor (or not) --> <param name="stall_timeout_ns" value="20000000"/> <!-- after spin-up, if no zero crossing is not detected for this amount of time, motor is considered stalled --> <param name="require_reset_if_stalled" value="0"/> <!-- require sending an array of zero commands to reset before next spin-up, if motor stalled --> <!--simple defualt chime--> <param name="tone_freqs" value="[200, 215, 225, 250, 0,0,0,0, 0,0,0,0]"/> <!-- 200 is 2000Hz, max 255 --> <param name="tone_durations" value="[10, 10, 10, 10, 0,0,0,0, 0,0,0,0]"/> <!-- duration of each tone in units of 10 milli-seconds. Poor naming!!! --> <param name="tone_powers" value="[60, 60, 60, 60, 0,0,0,0, 0,0,0,0]"/> <!-- max is 255 --> <param name="dt_threshold_ns" value="100000"/> <!-- during start up, ignore inter-commutation times less than this val, probably noise --> <param name="max_dt_ns" value="3500000"/> <!-- min and max values for time between two commutations. these are used as caps --> <param name="min_dt_ns" value="10000"/> <param name="dt_bootstrap_ns" value="2500000"/> <!-- filter bootstrap value for commutation dt during start up --> <param name="spinup_stall_dt_ns" value="8000000"/> <!-- during spin-up, if no zero crossing is not detected for this amount of time, motor is considered stalled --> <param name="spinup_stall_check_ns" value="30000000"/> <!-- time after beginning of spinup to start checking for spinup stall --> <param name="alignment_time_ns" value="0"/> <!-- alignment time before spin-up --> <param name="timing_advance" value="60"/> <param name="sense_advance" value="20"/> <param name="demag_timing" value="0"/> <!-- unused --> </TuneParams> </EscParameters>
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Drone flipped upside down when switched to manual mode
@Alex-Kushleyev We were doing a flight test and were experiencing some drift in GPS mode. When the pilot switched to manual mode, the drone flipped upside down and drove itself to the ground. Can you help us analyze the flight log and help us understand what happened.
I have pulled the log from
data/px4/log
-- are there any other logs that I should grab?Our setup:
- Custom drone platform
- VOXL2 as the flight controller
- FPV ESC 4-in-1
- 5G board
- Doodle Labs radio
- Jeti RC (in USB mode on the GCS over the radios)
In QGC we had performed the initial rate PID tuning, landed and fully restarted the drone. Took off again and noticed the GPS wandering. Moved higher to rule out magnetic interference and GPS shadowing, but still had drift. Switched to manual mode and it flipped and crashed.
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RE: Configuring battery monitor with FPV ESC
PX4 version 1.14.0-2.0.68
VOXL_ESC_PUB_BST is enabled
Voxl-esc is running, can spin and calibrate motors.Still no battery monitor
Low KV tuning worked, motors responding well.
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RE: Sony RXO over USB
@Eric-Katzfey okay - too bad. Is it still on the to-do list or no longer in the plans?
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Configuring battery monitor with FPV ESC
Hi we have configured and calibrated our Voxl FPV ESC 4 in 1 to run our T Motor MN5006 450KV motors but have not been able to get battery monitor working. I've tried all options in /etc/modalai/voxl-px4.config
Running voxl-inspect-battery results in NA values in all the fields. There is also no Mavlink message for battery monitor.
Edit: this is on a VOXL2 mainboard.
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RE: Sony RXO over USB
@Eric-Katzfey Was this ever done? I would like to do a similar thing and trigger an attached DSLR cameras using QGroundControl and gphoto2
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RE: VOXL2 with IO board, Graupner RC, F9 uBlox GPS, and the FPV ESC 4-in-1
@restore After reading older posts, changing the Voxl start script to add the ist8308 magnetometer to the build instead of the ist8310 solved the issue. I can now see the compass through PX4-listener
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RE: VOXL2 with IO board, Graupner RC, F9 uBlox GPS, and the FPV ESC 4-in-1
We have a few different GPS chips here so I went ahead and removed the Zed F9P GPS and plugged the M8N into the J19 connector as shown in the Voxl2 Offboard sensors documentation. I reverted the gps port and baud changes we had previously made in /usr/bin/voxl-px4-start and verified that the magnetometer lines that you provided were already there.
We now have GPS working off the M8N, but no compass still (checking with PX4-listener)
Running journalctl -b -u voxl-px4 the applicable area looks like this:
Apr 16 23:24:58 m0054 voxl-px4[1848]: Looking for ist8310 magnetometer Apr 16 23:24:58 m0054 voxl-px4[1848]: INFO [qshell] Send cmd: 'ist8310 start -R 10 -X -b 1' Apr 16 23:24:58 m0054 voxl-px4[1848]: INFO [qshell] cmd returned with: -1 Apr 16 23:24:58 m0054 voxl-px4[1848]: INFO [qshell] qshell return value timestamp: 12785145, local time: 12786961 Apr 16 23:24:58 m0054 voxl-px4[1848]: ERROR [qshell] Command failed Apr 16 23:24:58 m0054 voxl-px4[1848]: INFO [qshell] Send cmd: 'gps start' Apr 16 23:24:58 m0054 voxl-px4[1848]: INFO [qshell] qshell return value timestamp: 12834740, local time: 12835521
offboard sensors
https://docs.modalai.com/voxl2-guides-onboard-offboard-sensors/M8N
https://store.mrobotics.io/mRo-GPS-u-Blox-Neo-M8N-Dual-Compass-LIS3MDL-IST831-p/m10034-li8303.htm -
RE: VOXL2 with IO board, Graupner RC, F9 uBlox GPS, and the FPV ESC 4-in-1
@Alex-Kushleyev if we use the mRo GPS u-Blox Neo-M9N – IST8308 in order to have a compass (but still plugged into the 5G board) how do we start the ist8308 on dev/ttyHS2?
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RE: VOXL2 with IO board, Graupner RC, F9 uBlox GPS, and the FPV ESC 4-in-1
@Alex-Kushleyev thank you very much for you help. That did the trick and the GPS is working now
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VOXL2 with IO board, Graupner RC, F9 uBlox GPS, and the FPV ESC 4-in-1
I am hoping to get some guidance on initial setup for a custom drone using VOXL2. Our GPS (uBlox ZED-F9P) isn't being published.
px4-listener sensor_gps never published
GPS is set to autodetect
I tried forcing gps start with 115200 and 38400 (from manual) but get the same command failed result.
px4-qshell gps status
returnsINFO [qshell] Send cmd: 'gps status' INFO [qshell] qshell return value timestamp: 482903338, local time: 482904782
we tried the following but the command failed
px4-qshell gps start -b 38400 INFO [qshell] Send cmd: 'gps start' INFO [qshell] cmd returned with: -1 INFO [qshell] qshell return value timestamp: 487577618, local time: 487581068 ERROR [qshell] Command failed
QGC recognizes that the GPS_1_PROTOCOL = u-blox
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RE: Record video with from two OV9782 cameras in stereo
Thank you - I was able to make it work for one camera with the following changes.
etc/modalai/voxl-camera-server.conf
- changed
"camera_id_second":
to -1 to get just one camera, - changed
"en_preview":
to false, - Added:
"en_small_video": true, "small_video_width": 1280, "small_video_height": 800,
- restart voxl-camera-server service
etc/modalai/voxl-streamer.conf
"input-pipe": "stereo_small_encoded"
etc/modalai/voxl-mavcam-manager.conf
"video_record_pipe_name": "stereo_small_encoded",
- changed
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RE: Record video with from two OV9782 cameras in stereo
@Alex-Kushleyev I was able to get both cameras recorded using voxl-streamer and VLC.
For our project, we would like to record video on each camera separately during flight. How do I set up the cameras to be visible/accessible in QGroundControl? Is there a way to configure it to save videos in 2 minute clips or something similar?
Thank you!
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Record video with from two OV9782 cameras in stereo
Hi
I am running on the VOXL2 and have two of these OV9782 cameras with a stereo flex cable. I am trying to get a simple video recording working. I ran voxl-camera-server and then voxl-record-video and get the following error.
waiting for server at / run/mpa/stereo_grey/ error, can only record pipes with type h264 or h265
Stereo_grey is the name of the pipe when I list the pipes.
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RE: ESC FPV 4-in-1 (MDK-M0138) connection to VOXL2
@Alex-Kushleyev as Dan said there were no power cables. We received three cables : MCBL-00015-1, MCBL-00082-1, and MCBL-00091-1
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RE: ESC FPV 4-in-1 (MDK-M0138) connection to VOXL2
@Alex-Kushleyev there was no cable coming off of the pads
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ESC FPV 4-in-1 (MDK-M0138) connection to VOXL2
I have the new ESC FPV 4-in-1 with Built-in Power Module (MDK-M0138) and am looking to connect it to the VOXL2 but none of the cables it comes with have the right connector (Molex, 0050375043) to go to the VOXL2 power input.
Anyone know how to power VOXL2 from this ESC?