Posts made by Shivam Sehgal

Shivam Sehgal

@Moderator any advice?

Shivam Sehgal

@Alex-Kushleyev Yes Alex, it's glued to the board. Sorry, how can I connect with RMA department?

Shivam Sehgal

@Alex-Kushleyev any update?
How can can I remove the 2 in 1 camera board?

Shivam Sehgal

@Shivam-Sehgal Never mind I was able to make it work by interchanging the tx - rx wires.

Is there a specific implementation of starling drone with all it's sensors?

Shivam Sehgal

I am trying to do HITL using voxl2
Below is output of vol-services and voxl-version

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   |     0.0%
 voxl-dfs-server          | Disabled  | Not Running |  
 voxl-feature-tracker     | Disabled  | Not Running |  
 voxl-flow-server         | Disabled  | Not Running |  
 voxl-imu-server          | Disabled  | Not Running |  
 voxl-lepton-server       | Disabled  | Not Running |  
 voxl-mavcam-manager      | Disabled  | Not Running |  
 voxl-mavlink-server      |  Enabled  |   Running   |     0.5%
 voxl-microdds-agent      |  Enabled  |   Running   |     0.4%
 voxl-modem               | Disabled  | Not Running |  
 voxl-neopixel-manager    | Disabled  | Not Running |  
 voxl-portal              |  Enabled  |   Running   |     0.1%
 voxl-px4-imu-server      | Disabled  | Not Running |  
 voxl-px4                 | Disabled  | Not Running |  
 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-streamer            |  Enabled  |   Running   |     0.1%
 voxl-tag-detector        |  Enabled  |   Running   |     0.0%
 voxl-tflite-server       |  Enabled  |   Running   |     0.1%
 voxl-time-sync           | Disabled  | Not Running |  
 voxl-uvc-server          | Disabled  | Not Running |  
 voxl-vision-hub          |  Enabled  |   Running   |     0.4%
 voxl-wait-for-fs         |  Enabled  |  Completed  |  
voxl2:~$ voxl-version
--------------------------------------------------------------------------------
system-image: 1.7.1-M0054-14.1a-perf-nightly-20231025
kernel:       #1 SMP PREEMPT Thu Oct 26 03:25:38 UTC 2023 4.19.125
--------------------------------------------------------------------------------
hw version:   M0054
--------------------------------------------------------------------------------
voxl-suite:   1.1.2
--------------------------------------------------------------------------------
Packages:
Repo:  http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-1.1/binary-arm64/
Last Updated: 2024-05-07 06:01:21
List:
	libmodal-cv                 0.4.0
	libmodal-exposure           0.1.0
	libmodal-journal            0.2.2
	libmodal-json               0.4.3
	libmodal-pipe               2.9.2
	libqrb5165-io               0.4.2
	libvoxl-cci-direct          0.2.1
	libvoxl-cutils              0.1.1
	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       0.2.3
	qrb5165-tflite              2.8.0-2
	voxl-bind-spektrum          0.1.0
	voxl-camera-calibration     0.5.3
	voxl-camera-server          1.8.9.1
	voxl-configurator           0.4.8
	voxl-cpu-monitor            0.4.7
	voxl-docker-support         1.3.0
	voxl-elrs                   0.1.3
	voxl-esc                    1.3.7
	voxl-feature-tracker        0.3.2
	voxl-flow-server            0.3.3
	voxl-gphoto2-server         0.0.10
	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                 0.3.5
	voxl-mavcam-manager         0.5.3
	voxl-mavlink                0.1.1
	voxl-mavlink-server         1.3.2
	voxl-microdds-agent         2.4.1-0
	voxl-modem                  1.0.8
	voxl-mongoose               7.7.0-1
	voxl-mpa-to-ros             0.3.7
	voxl-mpa-to-ros2            0.0.2
	voxl-mpa-tools              1.1.3
	voxl-neopixel-manager       0.0.3
	voxl-opencv                 4.5.5-2
	voxl-portal                 0.6.3
	voxl-px4                    1.14.0-2.0.63
	voxl-px4-imu-server         0.1.2
	voxl-px4-params             0.3.3
	voxl-qvio-server            1.0.0
	voxl-remote-id              0.0.9
	voxl-ros2-foxy              0.0.1
	voxl-streamer               0.7.4
	voxl-suite                  1.1.2
	voxl-tag-detector           0.0.4
	voxl-tflite-server          0.3.2
	voxl-utils                  1.3.3
	voxl-uvc-server             0.1.6
	voxl-vision-hub             1.7.3
	voxl2-system-image          1.7.1-r0
	voxl2-wlan                  1.0-r0
--------------------------------------------------------------------------------

I followed the docker setup, ran the docker. Gazebo launches with this output.

(base) swarm_researchers@swarm-Alienware-Aurora-R16:~$ docker run --rm -it --net=host --privileged -e DISPLAY=$DISPLAY -v /dev/input:/dev/input:rw -v /tmp/.X11-unix:/tmp/.X11-unix:ro voxl-gazebo-docker ./run_gazebo.bash
GAZEBO_PLUGIN_PATH :/usr/workspace/voxl2_hitl_gazebo
GAZEBO_MODEL_PATH :/usr/workspace/voxl2_hitl_gazebo/models
LD_LIBRARY_PATH :/usr/workspace/voxl2_hitl_gazebo/build
Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.
Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.
Opened serial device /dev/ttyUSB0

I adb shell onto voxl2 and run voxl-px4-hitl.

voxl2:/$ voxl-px4-hitl
Found DSP signature file
INFO  [px4] mlockall() enabled. PX4's virtual address space is locked into RAM.
INFO  [px4] assuming working directory is rootfs, no symlinks needed.
INFO  [muorb] Got muorb init command
Sending initialization request
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
Got topic data before configuration complete
INFO  [muorb] SLPI: muorb aggregator thread running
INFO  [muorb] muorb protobuf initalize method succeeded
INFO  [muorb] succesfully did ADVERTISE_TEST_TYPE
INFO  [muorb] SLPI: Creating pthread test_MUORB

INFO  [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097656
INFO  [muorb] succesfully did SUBSCRIBE_TEST_TYPE
INFO  [muorb] SLPI: Creating pthread test_MUORB

INFO  [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097655
INFO  [muorb] succesfully did TOPIC_TEST_TYPE
INFO  [muorb] SLPI: Creating pthread test_MUORB

INFO  [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097654
INFO  [muorb] succesfully did UNSUBSCRIBE_TEST_TYPE
INFO  [muorb] SLPI: Creating pthread test_MUORB

INFO  [muorb] SLPI: Successfully created px4 task PX4_test_MUORB with tid 2097653
INFO  [muorb] muorb test passed

______  __   __    ___ 
| ___ \ \ \ / /   /   |
| |_/ /  \ V /   / /| |
|  __/   /   \  / /_| |
| |     / /^\ \ \___  |
\_|     \/   \/     |_/

px4 starting.

INFO  [px4] startup script: /bin/sh /usr/bin/voxl-px4-hitl-start 0
INFO  [muorb] SLPI: Advertising remote topic log_message
INFO  [parameters] Starting param sync THREAD
Running on M0054
INFO  [muorb] SLPI: Starting param sync THREAD
INFO  [muorb] SLPI: before starting the qshell_entry task
INFO  [muorb] SLPI: Creating pthread qshell

INFO  [muorb] SLPI: qshell entry.....
INFO  [muorb] SLPI: Successfully created px4 task PX4_qshell with tid 2097652
INFO  [muorb] SLPI: Init app map initialized
INFO  [muorb] SLPI: after starting the qshell_entry task
INFO  [param] selected parameter default file /data/px4/param/hitl_parameters
INFO  [muorb] SLPI: Marking DeviceNode(parameter_client_reset_request) as advertised in process_remote_topic
INFO  [uORB] Marking DeviceNode(parameter_client_reset_response) as advertised in process_remote_topic
INFO  [muorb] SLPI: Advertising remote topic parameter_update
INFO  [muorb] SLPI: Marking DeviceNode(parameter_client_set_value_request) as advertised in process_remote_to
INFO  [uORB] Marking DeviceNode(parameter_server_set_used_request) as advertised in process_remote_topic
INFO  [muorb] SLPI: Marking DeviceNode(parameter_server_set_used_response) as advertised in process_remote_to
INFO  [uORB] Marking DeviceNode(parameter_client_set_value_response) as advertised in process_remote_topic
INFO  [parameters] BSON document size 1620 bytes, decoded 1620 bytes (INT32:41, FLOAT:36)
INFO  [logger] logger started (mode=all)
INFO  [logger] Start file log (type: full)
INFO  [logger] [logger] /data/px4/log/2024-10-23/16_58_03.ulg	
INFO  [muorb] SLPI: Advertising remote topic mavlink_log
INFO  [logger] Opened full log file: /data/px4/log/2024-10-23/16_58_03.ulg
INFO  [muorb] SLPI: Advertising remote topic event
INFO  [muorb] SLPI: Advertising remote topic logger_status
INFO  [qshell] Send cmd: 'sensors start -h'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: sensors start -h
INFO  [muorb] SLPI:   arg0 = 'sensors'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [muorb] SLPI:   arg2 = '-h'

INFO  [uORB] Advertising remote topic sensor_selection
INFO  [uORB] Advertising remote topic sensors_status_imu
INFO  [uORB] Advertising remote topic vehicle_acceleration
INFO  [uORB] Advertising remote topic vehicle_angular_velocity
INFO  [uORB] Advertising remote topic sensor_combined
INFO  [uORB] Advertising remote topic vehicle_air_data
INFO  [uORB] Advertising remote topic vehicle_gps_position
INFO  [uORB] Advertising remote topic vehicle_magnetometer
INFO  [uORB] Advertising remote topic sensor_preflight_mag
INFO  [muorb] SLPI: Ok executing command: sensors start -h
INFO  [uORB] Advertising remote topic qshell_retval
INFO  [qshell] qshell return value timestamp: 3280312226, local time: 3280315844
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: ekf2 start
INFO  [muorb] SLPI:   arg0 = 'ekf2'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [qshell] Send cmd: 'ekf2 start'
INFO  [uORB] Advertising remote topic vehicle_attitude
INFO  [uORB] Advertising remote topic vehicle_local_position
INFO  [uORB] Advertising remote topic estimator_event_flags
INFO  [uORB] Advertising remote topic estimator_innovation_test_ratios
INFO  [uORB] Advertising remote topic estimator_innovation_variances
INFO  [uORB] Advertising remote topic estimator_innovations
INFO  [uORB] Advertising remote topic estimator_sensor_bias
INFO  [uORB] Advertising remote topic estimator_states
INFO  [uORB] Advertising remote topic estimator_status_flags
INFO  [uORB] Advertising remote topic estimator_status
INFO  [muorb] SLPI: Ok executing command: ekf2 start
INFO  [qshell] qshell return value timestamp: 3280586205, local time: 3280590513
INFO  [qshell] Send cmd: 'mc_pos_control start'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: mc_pos_control start
INFO  [muorb] SLPI:   arg0 = 'mc_pos_control'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [uORB] Advertising remote topic takeoff_status
INFO  [muorb] SLPI: Ok executing command: mc_pos_control start
INFO  [qshell] qshell return value timestamp: 3280705576, local time: 3280706809
INFO  [qshell] Send cmd: 'mc_att_control start'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: mc_att_control start
INFO  [muorb] SLPI:   arg0 = 'mc_att_control'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [muorb] SLPI: Ok executing command: mc_att_control start
INFO  [qshell] qshell return value timestamp: 3280759599, local time: 3280761703
INFO  [qshell] Send cmd: 'mc_rate_control start'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: mc_rate_control start
INFO  [muorb] SLPI:   arg0 = 'mc_rate_control'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [uORB] Advertising remote topic rate_ctrl_status
INFO  [muorb] SLPI: Ok executing command: mc_rate_control start
INFO  [qshell] qshell return value timestamp: 3280865439, local time: 3280867108
INFO  [qshell] Send cmd: 'mc_hover_thrust_estimator start'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: mc_hover_thrust_estimator start
INFO  [muorb] SLPI:   arg0 = 'mc_hover_thrust_estimator'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [muorb] SLPI: Ok executing command: mc_hover_thrust_estimator start
INFO  [qshell] qshell return value timestamp: 3280906031, local time: 3280907747
INFO  [qshell] Send cmd: 'mc_autotune_attitude_control start'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: mc_autotune_attitude_control start
INFO  [muorb] SLPI:   arg0 = 'mc_autotune_attitude_control'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [uORB] Advertising remote topic autotune_attitude_control_status
INFO  [muorb] SLPI: Ok executing command: mc_autotune_attitude_control start
INFO  [qshell] qshell return value timestamp: 3280944959, local time: 3280946333
INFO  [qshell] Send cmd: 'land_detector start multicopter'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: land_detector start multicopter
INFO  [muorb] SLPI:   arg0 = 'land_detector'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [muorb] SLPI:   arg2 = 'multicopter'

INFO  [muorb] SLPI: Ok executing command: land_detector start multicopter
INFO  [qshell] qshell return value timestamp: 3280986143, local time: 3280988769
INFO  [qshell] Send cmd: 'manual_control start'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: manual_control start
INFO  [muorb] SLPI:   arg0 = 'manual_control'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [uORB] Advertising remote topic vehicle_land_detected
INFO  [muorb] SLPI: Ok executing command: manual_control start
INFO  [uORB] Advertising remote topic manual_control_setpoint
INFO  [qshell] qshell return value timestamp: 3281037294, local time: 3281039572
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: control_allocator start
INFO  [muorb] SLPI:   arg0 = 'control_allocator'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [qshell] Send cmd: 'control_allocator start'
INFO  [uORB] Advertising remote topic control_allocator_status
INFO  [uORB] Marking DeviceNode(control_allocator_status) as advertised in process_remote_topic
INFO  [uORB] Advertising remote topic actuator_motors
INFO  [uORB] Advertising remote topic actuator_servos
INFO  [uORB] Advertising remote topic actuator_servos_trim
INFO  [muorb] SLPI: Ok executing command: control_allocator start
INFO  [qshell] qshell return value timestamp: 3281289624, local time: 3281291468
INFO  [qshell] Send cmd: 'rc_update start'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: rc_update start
INFO  [muorb] SLPI:   arg0 = 'rc_update'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [muorb] SLPI: Ok executing command: rc_update start
INFO  [qshell] qshell return value timestamp: 3281573754, local time: 3281575359
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: commander start -h
INFO  [muorb] SLPI:   arg0 = 'commander'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [muorb] SLPI:   arg2 = '-h'

INFO  [muorb] SLPI: Creating pthread commander

INFO  [muorb] SLPI: Successfully created px4 task PX4_commander with tid 2097647
INFO  [qshell] Send cmd: 'commander start -h'
INFO  [uORB] Advertising remote topic led_control
INFO  [muorb] SLPI: Ok executing command: commander start -h
INFO  [muorb] SLPI: LED: open /dev/led0 failed (22)
INFO  [uORB] Advertising remote topic tune_control
INFO  [qshell] qshell return value timestamp: 3281758211, local time: 3281760473
INFO  [muorb] SLPI: orb_advertise_multi: failed to set queue size
INFO  [muorb] SLPI: Preflight Fail: Accel Sensor 0 missing
INFO  [muorb] SLPI: Preflight Fail: barometer 0 missing
INFO  [muorb] SLPI: Preflight Fail: ekf2 missing data
INFO  [muorb] SLPI: Preflight Fail: Gyro Sensor 0 missing
INFO  [muorb] SLPI: Preflight Fail: Compass Sensor 0 missing
INFO  [uORB] Advertising remote topic health_report
INFO  [uORB] Advertising remote topic failsafe_flags
INFO  [uORB] Advertising remote topic actuator_armed
INFO  [uORB] Advertising remote topic vehicle_control_mode
INFO  [uORB] Advertising remote topic vehicle_status
INFO  [uORB] Advertising remote topic failure_detector_status
INFO  [qshell] Send cmd: 'commander mode posctl'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: commander mode posctl
INFO  [muorb] SLPI:   arg0 = 'commander'

INFO  [muorb] SLPI:   arg1 = 'mode'

INFO  [muorb] SLPI:   arg2 = 'posctl'

INFO  [uORB] Advertising remote topic vehicle_command
INFO  [muorb] SLPI: Ok executing command: commander mode posctl
INFO  [qshell] qshell return value timestamp: 3281789206, local time: 3281789998
INFO  [uORB] Advertising remote topic vehicle_command_ack
INFO  [qshell] Send cmd: 'load_mon start'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: load_mon start
INFO  [muorb] SLPI:   arg0 = 'load_mon'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [muorb] SLPI: Ok executing command: load_mon start
INFO  [uORB] Advertising remote topic cpuload
INFO  [qshell] qshell return value timestamp: 3281817661, local time: 3281818749
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: flight_mode_manager start
INFO  [muorb] SLPI:   arg0 = 'flight_mode_manager'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [qshell] Send cmd: 'flight_mode_manager start'
INFO  [uORB] Marking DeviceNode(vehicle_command) as advertised in process_remote_topic
INFO  [muorb] SLPI: Ok executing command: flight_mode_manager start
INFO  [qshell] qshell return value timestamp: 3281917546, local time: 3281919416
INFO  [dataman] data manager file '/data/px4/dataman' size is 7866640 bytes
INFO  [muorb] SLPI: Advertising remote topic transponder_report
INFO  [muorb] SLPI: Advertising remote topic rtl_time_estimate
INFO  [muorb] SLPI: Advertising remote topic position_setpoint_triplet
INFO  [qshell] Send cmd: 'pwm_out_sim start -m hil'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: pwm_out_sim start -m hil
INFO  [muorb] SLPI:   arg0 = 'pwm_out_sim'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [muorb] SLPI:   arg2 = '-m'

INFO  [muorb] SLPI:   arg3 = 'hil'

INFO  [uORB] Advertising remote topic actuator_outputs
INFO  [muorb] SLPI: Ok executing command: pwm_out_sim start -m hil
INFO  [uORB] Advertising remote topic actuator_outputs_sim
INFO  [qshell] qshell return value timestamp: 3283106378, local time: 3283108095
INFO  [qshell] Send cmd: 'dsp_hitl start -g -m'
INFO  [muorb] SLPI: Marking DeviceNode(qshell_req) as advertised in process_remote_topic
INFO  [muorb] SLPI: qshell gotten: dsp_hitl start -g -m
INFO  [muorb] SLPI:   arg0 = 'dsp_hitl'

INFO  [muorb] SLPI:   arg1 = 'start'

INFO  [muorb] SLPI:   arg2 = '-g'

INFO  [muorb] SLPI:   arg3 = '-m'

INFO  [muorb] SLPI: Creating pthread dsp_hitl__main

INFO  [muorb] SLPI: Successfully created px4 task PX4_dsp_hitl__main with tid 2097645
INFO  [muorb] SLPI: Ok executing command: dsp_hitl start -g -m
ERROR [muorb] SLPI: Port is open: 0
INFO  [uORB] Advertising remote topic sensor_accel
INFO  [uORB] Advertising remote topic sensor_gyro
INFO  [muorb] SLPI: Got 5 from orb_subscribe
INFO  [qshell] qshell return value timestamp: 3283136557, local time: 3283138431
INFO  [uORB] Advertising remote topic esc_status
INFO  [mavlink] mode: Onboard, data rate: 100000 B/s on udp port 14556 remote port 14557
INFO  [muorb] SLPI: Advertising remote topic telemetry_status
INFO  [mavlink] partner IP: 127.0.0.1
INFO  [muorb] SLPI: Advertising remote topic obstacle_distance
INFO  [muorb] SLPI: Advertising remote topic timesync_status
INFO  [mavlink] mode: Normal, data rate: 100000 B/s on udp port 14558 remote port 14559
INFO  [muorb] SLPI: Marking DeviceNode(telemetry_status) as advertised in process_remote_topic
INFO  [uORB] Advertising remote topic vehicle_imu
INFO  [uORB] Advertising remote topic vehicle_imu_status
INFO  [muorb] SLPI: Too many arming check events (1, 14 > 14). Not reporting all
INFO  [muorb] SLPI: Preflight Fail: No valid data from Accel 0
INFO  [muorb] SLPI: Preflight Fail: barometer 0 missing
INFO  [muorb] SLPI: Preflight Fail: ekf2 missing data
INFO  [muorb] SLPI: Preflight Fail: No valid data from Gyro 0
INFO  [muorb] SLPI: Preflight Fail: Compass Sensor 0 missing
INFO  [microdds_client] synchronized with time offset 1729699404643157us
INFO  [muorb] SLPI: Marking DeviceNode(timesync_status) as advertised in process_remote_topic
INFO  [microdds_client] successfully created rt/fmu/out/failsafe_flags data writer, topic id: 80
INFO  [microdds_client] successfully created rt/fmu/out/position_setpoint_triplet data writer, topic id: 159
INFO  [microdds_client] successfully created rt/fmu/out/timesync_status data writer, topic id: 200
INFO  [microdds_client] successfully created rt/fmu/out/vehicle_control_mode data writer, topic id: 223
INFO  [microdds_client] successfully created rt/fmu/out/vehicle_status data writer, topic id: 240
INFO  [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network)
INFO  [px4] Startup script returned successfully
pxh>

**Also, when I run voxl-px-hitl the drone model sinks under asphalt, am I doing something wrong, do I need to change the model inside run_gazebo.bash.

I think am using the correct cable, mentioned in one of the post. Is there a way to check the cable.**

Shivam Sehgal

@Shivam-Sehgal

I was able to start the imu_px4. I did just a simple take off and landing manually through rc controller in position mode.

imu_px4 has following vibrations(look at the max values)

Noise values are RMS values in units of m/s2 and rad/s.
Value in parenthesis are the max values recorded since the start.
Values in RED are high (>5.00m/s2 or >0.50rad/s).
Values in YELLOW are okay (>2.00m/s2 or >0.20rad/s).
Values in GREEN are great!

 Accl (X) | Accl (Y) | Accl (Z) |  Gyro (X)  |  Gyro (Y)  |  Gyro (Z)
0.01(31.54) 0.01(10.40) 0.01(30.38) 0.003(0.625) 0.003(1.548) 0.002(0.210)

imu_app has following vibrations(look at the max values)

Noise values are RMS values in units of m/s2 and rad/s.
Value in parenthesis are the max values recorded since the start.
Values in RED are high (>5.00m/s2 or >0.50rad/s).
Values in YELLOW are okay (>2.00m/s2 or >0.20rad/s).
Values in GREEN are great!

 Accl (X) | Accl (Y) | Accl (Z) |  Gyro (X)  |  Gyro (Y)  |  Gyro (Z)
0.00(4.32) 0.00(2.31) 0.00(7.96) 0.001(0.330) 0.000(0.491) 0.000(0.101)

Why are vibrations much worse on imu_px4, did I do something wrong?

Shivam Sehgal

@tom said in Unstable Flight (local Position Estimate Error):

imu_server start

Thanks it worked.
How can update the extrinsic.conf file for imu_px4?

Shivam Sehgal

@Alex-Kushleyev I was able to point out maybe it's the hires camera that's the issue. I don't know why but I was singly able to run all other camera's but not the hires camera.

What defect should I look for?

Also, while doing all that I broke the tracking camera's connector and the 2 in 1 camera boards. I will be ordering those. How can I remove the 2 in 1 camera board from the voxl2 board?

Shivam Sehgal

@Alex-Kushleyev I hope this clears somethings out, its confusing for me too.

no it does not boot now with all the camera's plugged in original physical connections.
It was not about the physical connections, but when the camera service started then the connection broke.

First I shifted the physical connections of the camera's as mentioned above, after which I could boot but the hires and tracking camera did not work or start. (https://forum.modalai.com/post/19383)

Then restored the original physical connnections, set the voxl-configure-camera to it original configuration it's shipped with and then restarted the voxl-camera-server.

When I started the service this the output of it, after this output the adb and ssh connection broke and I was unable to connection to the voxl2 board.

voxl2:/$ voxl-camera-server 
detected system image 1.7.1
using new imx214 defaults
=================================================================
configuration for 3 cameras:

cam #0
    name:                tof
    sensor type:         pmd-tof
    isEnabled:           1
    camId:               0
    camId2:              -1
    fps:                 5
    en_rotate:           0
    en_rotate2:          0

    en_preview:          1
    pre_width:           224
    pre_height:          1557
    en_raw_preview:      1

    en_small_video:      0
    small_video_width:   -1
    small_video_height:  -1

    en_large_video:      0
    large_video_width:   -1
    large_video_height:  -1

    en_snapshot:         0
    snap_width:          -1
    snap_height:         -1

    ae_mode:             off
    standby_enabled:     0
    decimator:           5
    independent_exposure:0

cam #1
    name:                hires
    sensor type:         imx214
    isEnabled:           1
    camId:               1
    camId2:              -1
    fps:                 30
    en_rotate:           0
    en_rotate2:          0

    en_preview:          0
    pre_width:           640
    pre_height:          480
    en_raw_preview:      0

    en_small_video:      1
    small_video_width:   1024
    small_video_height:  768

    en_large_video:      1
    large_video_width:   4208
    large_video_height:  3120

    en_snapshot:         1
    snap_width:          4208
    snap_height:         3120

    ae_mode:             isp
    standby_enabled:     0
    decimator:           1
    independent_exposure:0

cam #2
    name:                tracking
    sensor type:         ov7251
    isEnabled:           1
    camId:               2
    camId2:              -1
    fps:                 30
    en_rotate:           0
    en_rotate2:          0

    en_preview:          1
    pre_width:           640
    pre_height:          480
    en_raw_preview:      1

    en_small_video:      0
    small_video_width:   -1
    small_video_height:  -1

    en_large_video:      0
    large_video_width:   -1
    large_video_height:  -1

    en_snapshot:         0
    snap_width:          -1
    snap_height:         -1

    ae_mode:             lme_msv
    standby_enabled:     0
    decimator:           1
    independent_exposure:0

=================================================================
GPS server Connected 
Starting Camera: tof (id #0)
Using gain limits min: 54 max: 8000
gbm_create_device(156): Info: backend name is: msm_drm
Starting Camera: hires (id #1)
Using gain limits min: 54 max: 431
WARNING: Port Def 0:
	Count Min: 8
	Count Actual: 16
	Size: 0x180000
	Buffers Contiguous: Yes
	Buffer Alignment: 0
WARNING: Port Def 1:
	Count Min: 4
	Count Actual: 16
	Size: 0x5a0000
	Buffers Contiguous: No
	Buffer Alignment: 0
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
WARNING: Port Def 0:
	Count Min: 8
	Count Actual: 16
	Size: 0x17a0000
	Buffers Contiguous: Yes
	Buffer Alignment: 0
WARNING: Port Def 1:
	Count Min: 4
	Count Actual: 16
	Size: 0x5ec000
	Buffers Contiguous: No
	Buffer Alignment: 0
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
Starting Camera: tracking (id #2)
Using gain limits min: 54 max: 3451
setting ov7251 BLC register for cam id 2

------ voxl-camera-server: Started 3 of 3 cameras

------ voxl-camera-server: Camera server is now running

Shivam Sehgal

@Zachary-Lowell-0 I started the imu_px4 server, but then again on inspecting it I just see the units no values.

Shivam Sehgal

@Zachary-Lowell-0 I did test SDK 1.3 but the ros2 package I had built for my application does not work as I want it to in that SDK version you can refer this question https://forum.modalai.com/topic/3775/tof-sensor-quailty-down-after-upgrading-to-voxl-1-3?_=1729870030812 for that.

how can I leverage the imu_px4 instead of imu_apps, I have been trying to find some resource to do that but I could not. When I do voxl-inspect-imu imu_px4 I don't see it, it shows waiting for server at.
how do I set it up.

Shivam Sehgal

@Shivam-Sehgal Turns out I have high imu vibrations, I was able to get it down by tightening the bolts properly but still there is high vibration in z - 8-9 and x -3-4. how can I find the cause of vibrations.
The motor seems to be correctly mounted and propellers are clean and not damaged.

Shivam Sehgal

@Shivam-Sehgal I connected the cameras back in their basic configration that it is shipped with.

Then I ran voxl-camera-cameras and set it to 06 - D0005 Starling pmd-tof imx214 hires ov7251 tracking.

voxl2:/$ voxl-configure-cameras 

Available camera config IDs are as follows:

01 - ov7251 tracking ov7251 stereo
02 - ov7251 tracking
03 - ov7251 tracking ov7251 stereo imx214 hires
04 - ov7251 tracking imx214 hires
05 - pmd-tof ov7251 tracking
06 - D0005 Starling pmd-tof imx214 hires ov7251 tracking
08 - imx214
09 - pmd-tof
10 - ov7251 stereo
11 - D0006 Sentinel
12 - ov9782 stereo
13 - ov9782 stereo imx214 hires
14 - ov9782 stereo pmd-tof ov7251 tracking (copy)
15 - D0008 dual 9782 tracking
16 - pmd-tof ov7251 dual tracking imx214 hires
17 - D0010 pmd-tof imx412 hires ov7251 tracking ov9782 stereo
18 - D0008 triple ov9782
19 - D0005 without tof imx214 hires ov7251 tracking
20 - D0011 imx412 hires ar0144 tracking
21 - old C6
22 - D0013 imx412 flipped ov7251
23 - D0010 without stereo
 C - use user-defined custom camera config in
     (/data/modalai/custom_camera_config.txt)
 q - Quit The Wizard

selection: 6
Selected numerical camera config
Camera Configuration: 6

camera server config helper list:
tof:pmd-tof:0:
hires:imx214:1:
tracking:ov7251:2:

driver binary list:
/usr/share/modalai/chi-cdk/irs1645/com.qti.sensormodule.irs1645_0.bin
/usr/share/modalai/chi-cdk/imx214/com.qti.sensormodule.imx214_2.bin
/usr/share/modalai/chi-cdk/ov7251/com.qti.sensormodule.ov7251_3.bin

calling camera-server-config-helper tof:pmd-tof:0: hires:imx214:1: tracking:ov7251:2:
detected system image 1.7.1
using new imx214 defaults
successfully wrote this camera config to disk:
=================================================================
configuration for 3 cameras:

cam #0
    name:                tof
    sensor type:         pmd-tof
    isEnabled:           1
    camId:               0
    camId2:              -1
    fps:                 5
    en_rotate:           0
    en_rotate2:          0

    en_preview:          1
    pre_width:           224
    pre_height:          1557
    en_raw_preview:      1

    en_small_video:      0
    small_video_width:   -1
    small_video_height:  -1

    en_large_video:      0
    large_video_width:   -1
    large_video_height:  -1

    en_snapshot:         0
    snap_width:          -1
    snap_height:         -1

    ae_mode:             off
    standby_enabled:     0
    decimator:           5
    independent_exposure:0

cam #1
    name:                hires
    sensor type:         imx214
    isEnabled:           1
    camId:               1
    camId2:              -1
    fps:                 30
    en_rotate:           0
    en_rotate2:          0

    en_preview:          0
    pre_width:           640
    pre_height:          480
    en_raw_preview:      0

    en_small_video:      1
    small_video_width:   1024
    small_video_height:  768

    en_large_video:      1
    large_video_width:   4208
    large_video_height:  3120

    en_snapshot:         1
    snap_width:          4208
    snap_height:         3120

    ae_mode:             isp
    standby_enabled:     0
    decimator:           1
    independent_exposure:0

cam #2
    name:                tracking
    sensor type:         ov7251
    isEnabled:           1
    camId:               2
    camId2:              -1
    fps:                 30
    en_rotate:           0
    en_rotate2:          0

    en_preview:          1
    pre_width:           640
    pre_height:          480
    en_raw_preview:      1

    en_small_video:      0
    small_video_width:   -1
    small_video_height:  -1

    en_large_video:      0
    large_video_width:   -1
    large_video_height:  -1

    en_snapshot:         0
    snap_width:          -1
    snap_height:         -1

    ae_mode:             lme_msv
    standby_enabled:     0
    decimator:           1
    independent_exposure:0

=================================================================
camera_server_config_helper is done
copying required camera drivers in place
/usr/share/modalai/chi-cdk/irs1645/com.qti.sensormodule.irs1645_0.bin
/usr/share/modalai/chi-cdk/imx214/com.qti.sensormodule.imx214_2.bin
/usr/share/modalai/chi-cdk/ov7251/com.qti.sensormodule.ov7251_3.bin
enabling voxl-camera-server

------------------------------------------------------------------
Done Configuring Cameras
Please power cycle VOXL to load new drivers
camera server will start on next reboot
------------------------------------------------------------------

After this I manually restarted the voxl-camera-server and the connection broke after the output below.

voxl2:/$ voxl-camera-server 
detected system image 1.7.1
using new imx214 defaults
=================================================================
configuration for 3 cameras:

cam #0
    name:                tof
    sensor type:         pmd-tof
    isEnabled:           1
    camId:               0
    camId2:              -1
    fps:                 5
    en_rotate:           0
    en_rotate2:          0

    en_preview:          1
    pre_width:           224
    pre_height:          1557
    en_raw_preview:      1

    en_small_video:      0
    small_video_width:   -1
    small_video_height:  -1

    en_large_video:      0
    large_video_width:   -1
    large_video_height:  -1

    en_snapshot:         0
    snap_width:          -1
    snap_height:         -1

    ae_mode:             off
    standby_enabled:     0
    decimator:           5
    independent_exposure:0

cam #1
    name:                hires
    sensor type:         imx214
    isEnabled:           1
    camId:               1
    camId2:              -1
    fps:                 30
    en_rotate:           0
    en_rotate2:          0

    en_preview:          0
    pre_width:           640
    pre_height:          480
    en_raw_preview:      0

    en_small_video:      1
    small_video_width:   1024
    small_video_height:  768

    en_large_video:      1
    large_video_width:   4208
    large_video_height:  3120

    en_snapshot:         1
    snap_width:          4208
    snap_height:         3120

    ae_mode:             isp
    standby_enabled:     0
    decimator:           1
    independent_exposure:0

cam #2
    name:                tracking
    sensor type:         ov7251
    isEnabled:           1
    camId:               2
    camId2:              -1
    fps:                 30
    en_rotate:           0
    en_rotate2:          0

    en_preview:          1
    pre_width:           640
    pre_height:          480
    en_raw_preview:      1

    en_small_video:      0
    small_video_width:   -1
    small_video_height:  -1

    en_large_video:      0
    large_video_width:   -1
    large_video_height:  -1

    en_snapshot:         0
    snap_width:          -1
    snap_height:         -1

    ae_mode:             lme_msv
    standby_enabled:     0
    decimator:           1
    independent_exposure:0

=================================================================
GPS server Connected 
Starting Camera: tof (id #0)
Using gain limits min: 54 max: 8000
gbm_create_device(156): Info: backend name is: msm_drm
Starting Camera: hires (id #1)
Using gain limits min: 54 max: 431
WARNING: Port Def 0:
	Count Min: 8
	Count Actual: 16
	Size: 0x180000
	Buffers Contiguous: Yes
	Buffer Alignment: 0
WARNING: Port Def 1:
	Count Min: 4
	Count Actual: 16
	Size: 0x5a0000
	Buffers Contiguous: No
	Buffer Alignment: 0
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
WARNING: Port Def 0:
	Count Min: 8
	Count Actual: 16
	Size: 0x17a0000
	Buffers Contiguous: Yes
	Buffer Alignment: 0
WARNING: Port Def 1:
	Count Min: 4
	Count Actual: 16
	Size: 0x5ec000
	Buffers Contiguous: No
	Buffer Alignment: 0
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
gbm_create_device(156): Info: backend name is: msm_drm
Starting Camera: tracking (id #2)
Using gain limits min: 54 max: 3451
setting ov7251 BLC register for cam id 2

------ voxl-camera-server: Started 3 of 3 cameras

------ voxl-camera-server: Camera server is now running

Shivam Sehgal

@Alex-Kushleyev I connected both cameras to the other connector on which tof sensor was connected. I could connect to the board. Also the tof sensor worked on the other board.

But I could not connect to the tracking and hires camera, I could only connected to TOF sensor.

Shivam Sehgal

@Alex-Kushleyev I did not unbrick it it had opened the voxl2 board and I was able to connect to it, then when I closed it it did not connect again.
What I found out is when the hires and tracking camera are connected to the board I am unable to connect to the drone. What could be the reason for this?

Shivam Sehgal

Drone Info:
Starling Drone, Voxl SDK Version: 1.1.2

I had a starling drone, which was not flying properly. I was changing into failsafe mode and I was unable to control it in position mode. I thought one of the motors is damages so I replaced it. After that it works a bit better but still goes into failsafe mode again and again.

I have 2 log files
log1
log2

Also, I am able to control it well in manual mode.
Can you help me with this?

Shivam Sehgal

@Alex-Kushleyev should I follow the unbricking process?

Shivam Sehgal

I have two Starling drones, one running VOXL-SDK 1.1.2 and the other running VOXL-SDK 1.3. I've noticed a significant difference in the depth output from the TOF sensor between the two drones. The drone with the newer VOXL version is producing poorer depth data, even though both drones are running at the same 15 FPS and have identical quality settings. I'm trying to understand the cause of this issue and explore ways to improve the depth output on the drone with the newer VOXL version.

Below are the images attached.

Shivam Sehgal

@Alex-Kushleyev Yes I was able to connect to drone both via wifi and adb that day, then next day I wasn't able to do so.

(Some Observation if it helps)
Also, I have 3 other starling drone in all of them there are four blue lights on the ESC that constantly flash.
In the one that does not connect there is no flashing.

Shivam Sehgal

@Alex-Kushleyev i can update the system but I am unable to connect to voxl 2. How can I update the system?