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    S
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    Posts made by sansoy

    • RE: qvio error: IMU_MISSING STALLED

      @tom thanks tom!

      with voxl-configure-sku -w
      I assumed the option to select is
      6) px4-autonomy-dev-kit

      i then ran voxl-configure-mpa
      saw a few errors but the qvio is working now with no errors.

      Sabri

      posted in Qualcomm Flight RB5 5G Drone
      S
      sansoy
    • RE: qvio error: IMU_MISSING STALLED

      @tom i ran
      journalctl -u voxl-qvio-server
      and saw this message as the extrinsics.conf file doesnot exist

      failed to find extrinsics from imu_px4 to tracking in /etc/modalai/extrinsics.conf

      posted in Qualcomm Flight RB5 5G Drone
      S
      sansoy
    • RE: qvio error: IMU_MISSING STALLED

      @tom Screenshot from 2024-02-14 15-48-11.png i did that and tried restarting the voxl-qvio-server but it wont start.

      posted in Qualcomm Flight RB5 5G Drone
      S
      sansoy
    • voxl-inspect-qvio error: IMU_MISSING

      Screenshot from 2024-02-14 08-21-10.png

      i've followed all instructions from calibrating the tracking camera
      https://docs.modalai.com/calibrate-cameras

      to
      https://docs.modalai.com/voxl-m500-user-guide-using-vio

      i've configured every setting with voxl-configure-qvio and still get the following error

      voxl2:/$ voxl-inspect-qvio
      waiting for server

      dt(ms) | T_imu_wrt_vio (m) |Roll Pitch Yaw (deg)|features|quality| state| error_codes |
      30.9 | 0.00 0.00 0.00| 0.0 -0.0 0.0| 0 | -1% | FAIL | IMU_MISSING STALLED

      any ideas?

      posted in Ask your questions right here!
      S
      sansoy
    • RE: qvio error: IMU_MISSING STALLED

      @bgaudel Did you ever get this resolved. I'm experiencing the same thing with IMU_MISSING STALLED

      posted in Qualcomm Flight RB5 5G Drone
      S
      sansoy
    • RE: no data while querying /run/mpa/tflight_data/request using Python

      @thomas I already wrote a c helper function that uses libmodal-pipe to pipe tflite_data that my python script reads in realtime. it works well
      per your message " small C++ helper program to take in images from the camera". how would i modify my c helper to use libmodal-pipe to stream data from one of the cameras?

      posted in Ask your questions right here!
      S
      sansoy
    • RE: no data while querying /run/mpa/tflight_data/request using Python

      @thomas i'm not using voxl-tflite-server. On my voxl2 i installed the latest version of YOLOv8 from Ultralytics https://docs.ultralytics.com/ and it works well when i run inference on local images. i wanted to test just using a local python script that streams video frames from the hires_small_color camera and runs inference.

      posted in Ask your questions right here!
      S
      sansoy
    • RE: no data while querying /run/mpa/tflight_data/request using Python

      @thomas Hey thomas, we've got the handshaking between your C helper program and our python script working well. i successfully loaded Yolov8 on the voxl and it works really well on images. Was wondering if we could open the camera pipe the same as the tflite_data pipe to run inference on the frames in realtime. i noticed in your /data/web_root/index.html that you are using websockets for serving the videos in the browsers. is this the better route?

      posted in Ask your questions right here!
      S
      sansoy
    • RE: no data while querying /run/mpa/tflight_data/request using Python

      @thomas its all working now.

      had to reinstall the latest sdk. I'm guessing make install is a no-no. so just did a make and ran the executable.

      voxl2:/libmodal-pipe/build/examples(master)$ ./modal-tflite_data-client
      channel 0 connected to server
      Bounding Box Coordinates:
      score: 0.558105, x_min: 406.000000, y_min: 417.000000, x_max: 535.000000, y_max: 472.000000
      Bounding Box Coordinates:
      score: 0.429199, x_min: 427.000000, y_min: 370.000000, x_max: 573.000000, y_max: 426.000000
      Bounding Box Coordinates:
      score: 0.617676, x_min: 498.000000, y_min: 300.000000, x_max: 655.000000, y_max: 358.000000
      Bounding Box Coordinates:
      score: 0.416748, x_min: 505.000000, y_min: 302.000000, x_max: 659.000000, y_max: 359.000000
      Bounding Box Coordinates:
      score: 0.739258, x_min: 506.000000, y_min: 304.000000, x_max: 667.000000, y_max: 364.000000
      Bounding Box Coordinates:
      score: 0.493652, x_min: 4.000000, y_min: -1.000000, x_max: 781.000000, y_max: 109.000000
      Bounding Box Coordinates:
      score: 0.547852, x_min: 509.000000, y_min: 306.000000, x_max: 664.000000, y_max: 363.000000
      Bounding Box Coordinates:
      score: 0.640625, x_min: 505.000000, y_min: 310.000000, x_max: 660.000000, y_max: 369.000000

      posted in Ask your questions right here!
      S
      sansoy
    • RE: no data while querying /run/mpa/tflight_data/request using Python

      @thomas from my syslog

      Jan 23 00:46:51 m0054 voxl-camera-server[4202]: /usr/bin/voxl-camera-server: symbol lookup error: /usr/bin/voxl-camera-server: undefined symbol: pipe_validate_mavlin
      k_message_t
      Jan 23 00:46:51 m0054 systemd[1]: voxl-camera-server.service: Main process exited, code=exited, status=127/n/a
      Jan 23 00:46:51 m0054 systemd[1]: voxl-camera-server.service: Failed with result 'exit-code'.
      Jan 23 00:46:51 m0054 voxl-px4[1656]: ERROR [muorb] SLPI: Failed to parse version request response packet!
      Jan 23 00:46:53 m0054 voxl-px4[1656]: message repeated 534 times: [ ERROR [muorb] SLPI: Failed to parse version request response packet!]
      Jan 23 00:46:53 m0054 systemd[1]: voxl-camera-server.service: Service hold-off time over, scheduling restart.
      Jan 23 00:46:53 m0054 systemd[1]: voxl-camera-server.service: Scheduled restart job, restart counter is at 1.
      Jan 23 00:46:53 m0054 systemd[1]: Stopped voxl-camera-server.
      Jan 23 00:46:53 m0054 systemd[1]: Started voxl-camera-server.
      Jan 23 00:46:53 m0054 voxl-camera-server[4226]: /usr/bin/voxl-camera-server: symbol lookup error: /usr/bin/voxl-camera-server: undefined symbol: pipe_validate_mavlin
      k_message_t
      Jan 23 00:46:53 m0054 systemd[1]: voxl-camera-server.service: Main process exited, code=exited, status=127/n/a
      Jan 23 00:46:53 m0054 systemd[1]: voxl-camera-server.service: Failed with result 'exit-code'.
      Jan 23 00:46:53 m0054 voxl-px4[1656]: ERROR [muorb] SLPI: Failed to parse version request response packet!

      Actually several enabled services wont restart
      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 | Not Running |
      voxl-dfs-server | Disabled | Not Running |
      voxl-feature-tracker | Disabled | Not Running |
      voxl-flow-server | Disabled | Not Running |
      voxl-imu-server | Enabled | Running | 0.0%
      voxl-lepton-server | Enabled | Not Running |
      voxl-mavcam-manager | Disabled | Not Running |
      voxl-mavlink-server | Enabled | Not Running |
      voxl-modem | Disabled | Not Running |
      voxl-neopixel-manager | Disabled | Not Running |
      voxl-portal | Enabled | Not Running |
      voxl-px4-imu-server | Disabled | Not Running |
      voxl-px4 | Enabled | Running | 32.9%
      voxl-qvio-server | Disabled | Not Running |
      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 | Disabled | Not Running |
      voxl-tag-detector | Disabled | Not Running |
      voxl-tflite-server | Enabled | Running | 0.8%
      voxl-time-sync | Disabled | Not Running |
      voxl-uvc-server | Disabled | Not Running |
      voxl-vision-hub | Enabled | Not Running |
      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:/$

      all i did was compile and make install my modal-tflite_data-client.c file

      posted in Ask your questions right here!
      S
      sansoy
    • RE: no data while querying /run/mpa/tflight_data/request using Python

      @thomas so i included ai_detection.h and cast the char* data variable and compiled successfully and several of my services died ...lol

      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 | Not Running |
      voxl-dfs-server | Disabled | Not Running |
      voxl-feature-tracker | Disabled | Not Running |
      voxl-flow-server | Disabled | Not Running |

      I've tried everything to restart both camera server and cpu monitor and no luck. Rebooted, Cycled Power,
      Any thoughts on how to recover from this?

      posted in Ask your questions right here!
      S
      sansoy
    • RE: no data while querying /run/mpa/tflight_data/request using Python

      @sansoy so i updated my copy named modal-tflite_data-client.c with fields listed in tflite_data/info
      {
      "name": "tflite_data",
      "location": "/run/mpa/tflite_data/",
      "type": "ai_detection_t",
      "server_name": "voxl-tflite-server",
      "size_bytes": 16384,
      "server_pid": 25994
      }

      Recompiled the script and ran
      voxl2:/run/mpa/tflite_data$ modal-tflite_data-client
      channel 0 connected to server
      sending tflite_data to server control pipe
      failed to send control command to server
      ERROR: control pipe not available

      but when i put a picture in front of it and the object detection is working i'm getting!

      voxl2:/run/mpa/tflite_data$ modal-tflite_data-client
      channel 0 connected to server
      sending tflite_data to server control pipe
      failed to send control command to server
      ERROR: control pipe not available
      received 172 bytes on channel 0: LXOV��O6
      received 172 bytes on channel 0: LXOV��F[6
      received 172 bytes on channel 0: LXOV7?_�6
      received 172 bytes on channel 0: LXOV! ��6
      received 172 bytes on channel 0: LXOV
      ���6
      received 172 bytes on channel 0: LXOV����6

      posted in Ask your questions right here!
      S
      sansoy
    • RE: no data while querying /run/mpa/tflight_data/request using Python

      @thomas ok massive confusion.

      i was able to download the example hello scripts and compile them and they work fine.
      modal-hello-client.c
      modal-hello-pause.c
      modal-hello-server.c
      modal-hello-sink.c
      modal-kill-pipe.c
      modal-pipe-ping.c

      i then made copies of these and replaced hello with tflite_data and compiled successfuly
      however, i cant seem to tie into tflite_data.

      so when i'm running voxl-tflite-server two pipes show up, ie tflite and tflite_data

      Doesnt that mean these pipes open already?

      i tried my modal-tflite_data-client and got the following error

      channel 0 connected to server
      sending tflite_data to server control pipe
      failed to send control command to server
      ERROR: control pipe not available
      ERROR, pipe is not of type "text"
      closing

      i just want to get the box coordinates from the pipe. Help me Obi Wan Kenobi!

      posted in Ask your questions right here!
      S
      sansoy
    • RE: no data while querying /run/mpa/tflight_data/request using Python

      @thomas Thanks Thomas! will get back to you....i'm sure!!

      posted in Ask your questions right here!
      S
      sansoy
    • RE: no data while querying /run/mpa/tflight_data/request using Python

      The following is a python script generated by bard.google.com which also runs but is not printing any data.

      import ctypes
      import os

      Define structures with packing

      class ObjectDetectionMsg(ctypes.Structure):
      fields = [
      ("timestamp_ns", ctypes.c_int64),
      ("class_id", ctypes.c_uint32),
      ("class_name", ctypes.c_char * 64),
      ("class_confidence", ctypes.c_float),
      ("detection_confidence", ctypes.c_float),
      ("x_min", ctypes.c_float),
      ("y_min", ctypes.c_float),
      ("x_max", ctypes.c_float),
      ("y_max", ctypes.c_float),
      ]
      pack = 1

      class DetectionsArray(ctypes.Structure):
      fields = [
      ("num_detections", ctypes.c_int32),
      ("detections", ObjectDetectionMsg * 64),
      ]
      pack = 1

      Open the pipe for reading

      pipe_path = "/run/mpa/tflite_data/request"
      pipe_fd = os.open(pipe_path, os.O_RDONLY)

      Read data continuously

      while True:
      # Read a detections_array structure from the pipe
      data = os.read(pipe_fd, ctypes.sizeof(DetectionsArray))

      # Parse the data into a DetectionsArray object
      detections_array = DetectionsArray.from_buffer_copy(data)
      
      # Process the detections
      for i in range(detections_array.num_detections):
          detection = detections_array.detections[i]
          # Access detection fields as needed, e.g.,
          print(f"Timestamp: {detection.timestamp_ns}")
          print(f"Class ID: {detection.class_id}")
          print(f"Class name: {detection.class_name.decode()}")
          print(f"Class confidence: {detection.class_confidence}")
          print(f"Detection confidence: {detection.detection_confidence}")
          print(f"Bounding box: ({detection.x_min}, {detection.y_min}) - ({detection.x_max}, {detection.y_max})")
      
      posted in Ask your questions right here!
      S
      sansoy
    • no data while querying /run/mpa/tflight_data/request using Python

      I'm not getting any data or errors except for the one error when i restart voxl-tflight-server which seems logical.

      the metadata format is
      // struct containing all relevant metadata to a tflite object detection
      typedef struct ai_detection_t {
      uint32_t magic_number;
      int64_t timestamp_ns;
      uint32_t class_id;
      int32_t frame_id;
      char class_name[BUF_LEN];
      char cam[BUF_LEN];
      float class_confidence;
      float detection_confidence;
      float x_min;
      float y_min;
      float x_max;
      float y_max;
      } attribute((packed)) ai_detection_t;

      here's my code:

      import struct
      import os

      Define the format strings for the structures

      Note: This assumes a specific byte order, size, and alignment which might need adjustment

      object_detection_msg_format = 'qI64sfff4f'
      detections_array_format = 'i'

      Size of the object_detection_msg structure

      object_detection_msg_size = struct.calcsize(object_detection_msg_format)

      Function to unpack a single object_detection_msg

      def unpack_object_detection_msg(data):
      unpacked_data = struct.unpack(object_detection_msg_format, data)
      return {
      'timestamp_ns': unpacked_data[0],
      'class_id': unpacked_data[1],
      'class_name': unpacked_data[2].decode('utf-8').rstrip('\x00'),
      'class_confidence': unpacked_data[3],
      'detection_confidence': unpacked_data[4],
      'x_min': unpacked_data[5],
      'y_min': unpacked_data[6],
      'x_max': unpacked_data[7],
      'y_max': unpacked_data[8]
      }

      Function to read and unpack the data from the pipe

      def read_detections(pipe_fd):
      # Read the number of detections
      num_detections_data = os.read(pipe_fd, struct.calcsize(detections_array_format))

      if len(num_detections_data) != struct.calcsize(detections_array_format):
          raise ValueError("Did not read the expected number of bytes for num_detections")
      
      num_detections = struct.unpack(detections_array_format, num_detections_data)[0]
      
      # Read and unpack each detection
      detections = []
      for _ in range(num_detections):
          detection_data = os.read(pipe_fd, object_detection_msg_size)
          detection = unpack_object_detection_msg(detection_data)
          detections.append(detection)
      
      return detections
      

      pipe = open('/run/mpa/tflite_data/request', 'rb')
      pipe_fd = pipe.fileno()

      try:
      detections = read_detections(pipe_fd)
      print(detections)
      finally:
      pipe.close()

      Any suggestions/solutions/help would be awesomely appreciated!

      posted in Ask your questions right here!
      S
      sansoy
    • RE: Can anyone recommend a Tflite Colab Notebook for VOXL2 Training

      @thomas said in Can anyone recommend a Tflite Colab Notebook for VOXL2 Training:

      It's important to note that voxl-tflite-server isn't intended to be a high-grade tool for running any ML model with great configurations and optimizations; it's just an example of how you can use the VOXL ecosystem to run models. As much as I would enjoy building such a tool and implementing your request (and the others I get), there just isn't enough of a business demand for it right now.

      Thanks for the info. how can i get access to the box coordinates in the image?

      posted in Ask your questions right here!
      S
      sansoy
    • RE: Can anyone recommend a Tflite Colab Notebook for VOXL2 Training

      @thomas WORKED! i did most of what you stated except for renaming my file to your filename. !tflite_1705605919.png

      in a future release would be able to use the original filename vs renaming it to something that is hardcoded?

      posted in Ask your questions right here!
      S
      sansoy
    • RE: Can anyone recommend a Tflite Colab Notebook for VOXL2 Training

      @thomas

      installed voxl2_SDK_nightly_20240117.tar.gz
      per https://docs.modalai.com/flash-system-image/

      still not getting any detection even with your default yolov5. ive tried with hires large color, small color and grey.

      tflite_1705597671.png

      posted in Ask your questions right here!
      S
      sansoy
    • RE: Can anyone recommend a Tflite Colab Notebook for VOXL2 Training

      @thomas Morning Thomas, just getting back to this. I couldnt find any SDK that had a 2024 stamp. Was this uploaded somewhere else?
      Sabri

      posted in Ask your questions right here!
      S
      sansoy