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    2. riteshsharma
    3. Posts
    R
    • Profile
    • Following 0
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    • Topics 13
    • Posts 53
    • Best 3
    • Controversial 0
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    Posts made by riteshsharma

    • RE: Configuring extrinsics on Starling (Voxl2)

      @Alex-Kushleyev Hi Alex, When I hold the drone in hand and move around the room, I see that VIO is at 100%. It only fails when I shake the drone or start flying it. I'm not sure what's going wrong.

      posted in Ask your questions right here!
      R
      riteshsharma
    • RE: Configuring extrinsics on Starling (Voxl2)

      @riteshsharma Hi @admin @Moderator @Alex-Kushleyev Can you please help me in this regard? I am stuck at it and could not move further for almost a month now.

      posted in Ask your questions right here!
      R
      riteshsharma
    • RE: Configuring extrinsics on Starling (Voxl2)

      @Alex-Kushleyev Did you have a chance to look at the logs and the video?

      posted in Ask your questions right here!
      R
      riteshsharma
    • RE: Configuring extrinsics on Starling (Voxl2)

      @Alex-Kushleyev Hi Alex,

      I uploaded the qvio overlay video and logs at the link https://drive.google.com/drive/folders/105QyDrfBvA52eWwrdS9NHI0q9LHTPbMA?usp=drive_link for you to review. Can you please have a look at it?

      posted in Ask your questions right here!
      R
      riteshsharma
    • RE: Configuring extrinsics on Starling (Voxl2)

      @Alex-Kushleyev
      Hi Alex, I was able to take picture and prepare video as you asked. Please find here Video & Images

      posted in Ask your questions right here!
      R
      riteshsharma
    • RE: Configuring extrinsics on Starling (Voxl2)

      @Alex-Kushleyev

      I tried your suggestion. It works until I move the drone quickly or shake it abruptly. The quality goes to -1 and feature which were being tracked are not longer following actual features.

      Also, regarding camera transform, the starling drone( with silver motor) drone I have is in factory assembly. It would be great, if you could share the config file for camera transform.

      posted in Ask your questions right here!
      R
      riteshsharma
    • RE: Configuring extrinsics on Starling (Voxl2)

      @Moderator @Alex-Kushleyev Hi Alex, I actually don't remember exact version.

      I am sharing my flight logs(links: [https://drive.google.com/drive/folders/1v0FVU-SGO8WZukiOfFMfS7vYAGeJIq3E?usp=drive_link](link url)) and video of what happens when I try to fly in position mode. It just keeps climbing and had to press kill-switch. Just to let you know I am using starling drone in its factory setting (without any hardware damage) and re-flashed it with VOXL 2 SDK 1.2.0 using the option ./install.sh -w

      My current configurations:

      Screenshot from 2024-06-12 15-54-03.png

      Screenshot from 2024-06-12 15-52-10.png

      Screenshot from 2024-06-12 15-55-47.png

      Also, when i run voxl-health-check, it fail the test. however I can see all my camera server working in Voxl-portal

      voxl2:~$  voxl-health-check
      SKU: MRB-D0005-4-V2-C6-T8
      >> calOk: True
      
      >> compute:
      	> imageSensor0
      		probe: CAM_START_DEV Success, sensor_id:0x3d,sensor_slave_addr:0x7a
      		result: True
      	> imageSensor1
      		probe: error
      		result: False
      	> imageSensor2
      		probe: CAM_START_DEV Success, sensor_id:0x7750,sensor_slave_addr:0xe2
      		result: True
      
      >> voxl-camera-server:
      	> result: False
      	> running: True
      	> mpaOk: True
      	> tof_conf: False
      	> tof_pc: True
      	> tof_depth: False
      	> tof_ir: False
      	> tracking: False
      	> hires_large_color: False
      	> hires_large_grey: False
      	> hires_large_encoded: False
      	> hires_small_color: False
      	> hires_small_grey: False
      	> hires_small_encoded: False
      	> tof_confPipe: error
      	> tof_pcPipe: /run/mpa/tof_pc/info
      	> tof_depthPipe: error
      	> tof_irPipe: error
      	> trackingPipe: error
      	> hires_large_colorPipe: error
      	> hires_large_greyPipe: error
      	> hires_large_encodedPipe: error
      	> hires_small_colorPipe: error
      	> hires_small_greyPipe: error
      	> hires_small_encodedPipe: error
      
      >> voxl-mavlink-server:
      	> result: True
      	> running: True
      
      >> voxl-px4:
      	> result: True
      	> running: True
      	> error: False
      	> execStart: /usr/bin/voxl-px4
      	> sensor_accel
      		x: -0.10558
      		y: -0.07159
      		z: -9.90697
      		result: True
      	> sensor_gyro
      		x: 0.01312
      		y: 0.00221
      		z: -0.02396
      		result: True
      	> sensor_baro
      		temperature: 31.71471
      		pressure: 97145.28125
      		result: True
      	> sensor_mag
      		x: -0.26683
      		y: -0.28708
      		z: 0.62417
      		result: True
      	> battery_status
      		voltage_filtered_v: 8.62994
      		result: True
      	> sensor_gps
      		lon: 0.0
      		lat: 0.0
      		alt: -17000.0
      		vel_m_s: 0.0
      		satellites_used: 0
      		device_id: 11272245
      		result: True
      
      >> voxl-imu-server:
      	> result: True
      	> running: True
      	> mpaPipe: /run/mpa/imu_apps/info
      	> device: ICM42688
      
      >> voxl-qvio-server:
      	> result: True
      	> running: True
      	> mpaPipe: /run/mpa/qvio/info
      
      >> voxl-vision-hub:
      	> result: True
      	> running: True
      	> mpaPipeVoaPcOut: /run/mpa/voa_pc_out/info
      	> mpaPipeFixed: /run/mpa/vvhub_body_wrt_fixed/info
      	> mpaPipeLocal: /run/mpa/vvhub_body_wrt_local/info
      	> mpaPipeFixedPoseInput: /run/mpa/vvhub_fixed_pose_input
      
      Health Check: Fail
      voxl2:~$ 
      
      
      posted in Ask your questions right here!
      R
      riteshsharma
    • RE: PX4 params missing

      @restore How did you do full wipe? Can you please post the steps to do so?

      posted in VOXL 2
      R
      riteshsharma
    • RE: Configuring extrinsics on Starling (Voxl2)

      @Eric-Katzfey I troubleshooted using the instruction on the https://docs.modalai.com/flying-with-vio/#troubleshooting-vio. Still as soon as the drone takes off, the quality of qvio goes down to -1.

      I also tried to reflash the drone with the system image VOXL 2 SDK 1.2.0 and enabled every thing to factory settings, still the drone starts drifting and qvio falls below -1. But qvio at the ground always shows 100% quality,

      Do you have any other suggestion?

      posted in Ask your questions right here!
      R
      riteshsharma
    • RE: Configuring extrinsics on Starling (Voxl2)

      @tom Thank you. I tried running voxl-configure-sku and voxl-configure-mpa and flew the drone. It just do not hold position and qvio goes to -1.

      I then tried running voxl-configure-extrinsics starling_v2_voxl2 and flew the drone again. The result was the same. The drone is not holding its position.

      voxl2:~$ voxl-version
      --------------------------------------------------------------------------------
      system-image: 1.7.6-M0054-14.1a-perf
      kernel:       #1 SMP PREEMPT Wed Mar 20 19:48:52 UTC 2024 4.19.125
      --------------------------------------------------------------------------------
      hw platform:  M0054
      mach.var:     1.0
      --------------------------------------------------------------------------------
      voxl-suite:   1.2.0
      --------------------------------------------------------------------------------
      Packages:
      Repo:  http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-1.2/binary-arm64/
      Last Updated: 2024-05-22 21:32:55
      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                              1.0.5
      libmodal-cv                               0.4.0
      libmodal-exposure                         0.1.0
      libmodal-journal                          0.2.2
      libmodal-json                             0.4.3
      libmodal-pipe                             2.10.0
      libqrb5165-io                             0.4.5
      libvoxl-cci-direct                        0.2.1
      libvoxl-cutils                            0.1.1
      modalai-slpi                              1.1.12
      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                0.1.1
      qrb5165-slpi-test-sig                     01-r0
      qrb5165-system-tweaks                     0.2.6
      qrb5165-tflite                            2.8.0-2
      voxl-bind-spektrum                        0.1.1
      voxl-camera-calibration                   0.5.4
      voxl-camera-server                        1.9.1
      voxl-ceres-solver                         2:1.14.0-10
      voxl-configurator                         0.5.6
      voxl-cpu-monitor                          0.4.8
      voxl-docker-support                       1.3.1
      voxl-elrs                                 0.1.3
      voxl-esc                                  1.4.0
      voxl-feature-tracker                      0.3.2
      voxl-flow-server                          0.3.3
      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                        1.2.0
      voxl-libgphoto2                           0.0.4
      voxl-libuvc                               1.0.7
      voxl-logger                               0.4.0
      voxl-mavcam-manager                       0.5.3
      voxl-mavlink                              0.1.1
      voxl-mavlink-server                       1.4.0
      voxl-microdds-agent                       2.4.1-0
      voxl-modem                                1.0.9
      voxl-mongoose                             7.7.0-1
      voxl-mpa-to-ros                           0.3.7
      voxl-mpa-to-ros2                          0.0.3
      voxl-mpa-tools                            1.1.5
      voxl-neopixel-manager                     0.0.3
      voxl-open-vins                            0.4.4
      voxl-open-vins-server                     0.2.18
      voxl-opencv                               4.5.5-2
      voxl-platform-mod                         1.0-r0
      voxl-portal                               0.6.5
      voxl-px4                                  1.14.0-2.0.68
      voxl-px4-imu-server                       0.1.2
      voxl-px4-params                           0.3.8
      voxl-qvio-server                          1.0.2
      voxl-remote-id                            0.0.9
      voxl-ros2-foxy                            0.0.1
      voxl-streamer                             0.7.4
      voxl-suite                                1.2.0
      voxl-tag-detector                         0.0.4
      voxl-tflite-server                        0.3.2
      voxl-utils                                1.3.9
      voxl-uvc-server                           0.1.6
      voxl-vision-hub                           1.7.4
      voxl2-system-image                        1.7.6-r0
      voxl2-wlan                                1.0-r0
      --------------------------------------------------------------------------------
      voxl2:~$ voxl-inspect-sku
      
      family code:   MRB-D0005 (starling)
      compute board: 4 (voxl2)
      hw version:    2
      cam config:    6
      tx config:     8
      SKU:           MRB-D0005-4-V2-C6-T8
      
      voxl2:~$ voxl-configure-extrinsics starling_v2_voxl2
      wiping old extrinsics config file
      copying /usr/share/modalai/extrinsic_configs/starling_v2_voxl2.conf to /etc/modalai/extrinsics.conf
      loading and updating file with voxl-inspect-extrinsics -q
      done configuring extrinsics
      voxl2:~$
      
      posted in Ask your questions right here!
      R
      riteshsharma
    • RE: Configuring extrinsics on Starling (Voxl2)

      @tom Hi Tom, I re-flashed with the latest VOXL 2 SDK 1.2.0 via install.sh script. Now, to configure extrinsics what should I choose?

      Capture1.PNG

      I dont see any option saying startling_v1_voxl2 or as such.

      posted in Ask your questions right here!
      R
      riteshsharma
    • Configuring extrinsics on Starling (Voxl2)

      Hi, I recently ran "apt update" and "apt upgrade" on my starling drone. Since then the drone is not holding position and keep climbing. I believe it is something to do with extrinsic configuration. Before, the option for extrinsic configuration used to show "voxl-configure-extrinsics factory_starling_v1" but now the option is gone. Can you please help me how to configure extrinsics given the information below:

      Capture2.PNG

      Capture1.PNG

      posted in Ask your questions right here!
      R
      riteshsharma
    • RE: Something wrong with my Starling

      @Darshit-Desai I am having the same issue on both VOXL and VOXL2 after the upgrade. Let me know if you figure out.

      posted in Ask your questions right here!
      R
      riteshsharma
    • RE: Camera server failing after the update

      @tom In that case, how can I downgrade and go back to initial stage. Do you have any suggestion?

      posted in VOXL 2
      R
      riteshsharma
    • Camera server failing after the update

      Voxl-camera-server is failing after I upgraded the packages on starling drone.

      voxl2:/$ voxl-version
      --------------------------------------------------------------------------------
      system-image: 1.7.4-M0054-14.1a-perf
      kernel:       #1 SMP PREEMPT Fri Feb 9 21:59:24 UTC 2024 4.19.125
      --------------------------------------------------------------------------------
      hw platform:  M0054
      mach.var:     1.0
      --------------------------------------------------------------------------------
      voxl-suite:   1.2.0-202404022201
      --------------------------------------------------------------------------------
      Packages:
      Repo:  http://voxl-packages.modalai.com/ ./dists/qrb5165/dev/binary-arm64/
      Last Updated: 2024-04-03 16:41:43
      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
      libmodal-cv                               0.5.5-202402131035
      libmodal-exposure                         0.1.0-202310231718
      libmodal-journal                          0.2.2-202211021731
      libmodal-json                             0.4.3-202209281920
      libmodal-pipe                             2.10.0-202311162306
      libqrb5165-io                             0.4.4-202401141445
      libvoxl-cci-direct                        0.2.1-202309211746
      libvoxl-cutils                            0.1.1-202210072352
      modalai-slpi                              1.1.12-202312191452
      mv-voxl                                   0.1-r0
      qrb5165-bind                              0.1-r0
      qrb5165-dfs-server                        0.2.0-202309221318
      qrb5165-imu-server                        1.0.1-202312010251
      qrb5165-rangefinder-server                0.1.1-202312111703
      qrb5165-slpi-test-sig                     01-r0
      qrb5165-system-tweaks                     0.2.6-202402151128
      qrb5165-tflite                            2.8.0-2-202210071637
      voxl-bind-spektrum                        0.1.1-202403271220
      voxl-camera-calibration                   0.5.4-202401081655
      voxl-camera-server                        1.9.0-202403211533
      voxl-capture                              0.0.1-202206110121
      voxl-ceres-solver                         2:1.14.0-10-202310130020
      voxl-configurator                         0.5.3-202403121650
      voxl-cpu-monitor                          0.4.8-202402061134
      voxl-docker-support                       1.3.0-202309201525
      voxl-elrs                                 0.2.1-202403141429
      voxl-esc                                  1.4.0-202403251514
      voxl-feature-tracker                      0.3.8-202403261346
      voxl-flow-server                          0.3.6-202403180603
      voxl-fsync-mod                            1.0-r0
      voxl-gphoto2-server                       0.0.10-202210072352
      voxl-gpio-mod                             1.0-r0
      voxl-jpeg-turbo                           2.1.3-5-202311071550
      voxl-lepton-server                        1.2.1-202403180611
      voxl-lepton-tracker                       0.0.1-202402261317
      voxl-libgphoto2                           0.0.4-202204111958
      voxl-libuvc                               1.0.7-202210072357
      voxl-logger                               0.3.12-202403261022
      voxl-mapper                               0.2.1-202403201826
      voxl-mavcam-manager                       0.5.4-202401290941
      voxl-mavlink                              0.1.1-202305011701
      voxl-mavlink-server                       1.4.0-202403191520
      voxl-microdds-agent                       2.4.1-0-202311211206
      voxl-modem                                1.0.9-202403121543
      voxl-mongoose                             7.7.0-1-202210072105
      voxl-mpa-to-ros                           0.3.7-202310131817
      voxl-mpa-to-ros2                          0.0.2-202402291159
      voxl-mpa-tools                            1.1.5-202403201735
      voxl-neopixel-manager                     0.0.3-202312061522
      voxl-nlopt                                2.5.0-4-202210072358
      voxl-open-vins                            0.4.10-202403281925
      voxl-open-vins-server                     0.2.46-202403281925
      voxl-opencv                               4.5.5-2-202311071601
      voxl-platform-mod                         1.0-r0
      voxl-portal                               0.6.5-202403201802
      voxl-px4                                  1.14.0-2.0.69-202402061301
      voxl-px4-imu-server                       0.1.2-202205131833
      voxl-px4-params                           0.3.6-202403111442
      voxl-qvio-server                          1.0.2-202403151128
      voxl-remote-id                            0.0.9-202309191605
      voxl-ros2-foxy                            0.0.1-202310061042
      voxl-rtp                                  0.0.1-202206101543
      voxl-stitcher                             0.0.2-202206161634
      voxl-streamer                             0.7.4-202309221610
      voxl-suite                                1.2.0-202404022201
      voxl-tag-detector                         0.0.4-202206302112
      voxl-tflite-server                        0.3.2-202401161222
      voxl-utils                                1.3.8-202402131713
      voxl-uvc-server                           0.1.6-202311050848
      voxl-vision-hub                           1.7.4-202401161503
      voxl-voxblox                              1.1.5-202310122350
      voxl-wifi-broadcast                       0.0.10-202206122258
      voxl2-io                                  0.0.1-202401181810
      voxl2-system-image                        1.7.4-r0
      voxl2-wlan                                1.0-r0
      --------------------------------------------------------------------------------```
      
      

      voxl2:/$ voxl-inspect-services
      Scanning services...

      Service Name | Enabled | Running | CPU Usage

      docker-autorun | Disabled | Not Running |
      modallink-relink | Disabled | Not Running |
      voxl-camera-server | Enabled | Not Running |
      voxl-cpu-monitor | Enabled | Running | 0.7%
      voxl-dfs-server | Disabled | Not Running |
      voxl-feature-tracker | Disabled | Not Running |
      voxl-flow-server | Disabled | Not Running |
      voxl-imu-server | Enabled | Running | 6.0%
      voxl-lepton-server | Disabled | Not Running |
      voxl-lepton-tracker | Disabled | Not Running |
      voxl-mapper | Enabled | Running | 0.4%
      voxl-mavcam-manager | Enabled | Running | 0.0%
      voxl-mavlink-server | Enabled | Running | 4.4%
      voxl-microdds-agent | Disabled | Not Running |
      voxl-modem | Disabled | Not Running |
      voxl-neopixel-manager | Disabled | Not Running |
      voxl-open-vins-server | Disabled | Not Running |
      voxl-portal | Enabled | Running | 0.6%
      voxl-px4-imu-server | Disabled | Not Running |
      voxl-px4 | Enabled | Running | 38.9%
      voxl-qvio-server | Enabled | Running | 5.0%
      voxl-rangefinder-server | Disabled | Not Running |
      voxl-remote-id | Disabled | Not Running |
      voxl-softap | Disabled | Not Running |
      voxl-static-ip | Disabled | Not Running |
      voxl-stitcher | Disabled | Not Running |
      voxl-streamer | Enabled | Running | 0.1%
      voxl-tag-detector | Disabled | Not Running |
      voxl-tflite-server | Disabled | Not Running |
      voxl-time-sync | Disabled | Not Running |
      voxl-uvc-server | Disabled | Not Running |
      voxl-vision-hub | Enabled | Running | 1.8%
      voxl-wait-for-fs | Enabled | Completed |
      voxl-wfb-rx-video | Disabled | Not Running |
      voxl-wfb-rx | Disabled | Not Running |
      voxl-wfb-tx-video | Disabled | Not Running |
      voxl-wfb-tx | Disabled | Not Running |

      
      

      voxl2:/$ voxl-camera-server
      voxl-camera-server: symbol lookup error: voxl-camera-server: undefined symbol: _ZTIN6royale3pal13II2cBusAccessE

      posted in VOXL 2
      R
      riteshsharma
    • RE: Using Logitech Brio USB camera as device in voxl-uvc-server

      Update on following up on this topic. I was able to use other camera including Logitech Brio as suggested on ModalAI webpage. It only support YUV format not MJPEG streaming. With YUV format on Logitech Brio, I was only able to get 1920x1080 at 5 fps. But could not get MJPEG working.

      posted in VOXL Accessories
      R
      riteshsharma
    • Using Logitech Brio USB camera as device in voxl-uvc-server

      @Moderator

      I am wondering if anyone have ever used Logitech Brio USB camera as a device in voxl-uvc-server running on voxl-deck. If yes, what is the highest resolution you have obtained at 30 fps ?

      I am trying to use a very high resolution camera 4k or more with high fps for live inspection. Will voxl allow to configure such camera with uvc-server?

      posted in VOXL Accessories
      R
      riteshsharma
    • RE: Adding USB camera to Voxl1

      @Alex-Kushleyev
      Thank you @Alex-Kushleyev . Finally I was able to modify the code to make it work for 2 USB cameras.

      posted in VOXL Accessories
      R
      riteshsharma