ModalAI Forum

@modaltb I see. Just one last thing, do you think a gimbal of ~900g would be ok to be attached to the Sentinel without any issues? As the quoted max. payload for the Sentinel is 1kg?

@Alex-Kushleyev Ohh. Yes please let me know how can I. I'm afraid I'll be needed spare parts for my research.

@SMRazaRizvi We can only comment on what we have tested with and that is the Commando 8.

@SMRazaRizvi Issue resolved. I connected one of the camera ports in a wrong orientation.

@Alex-Kushleyev Alright, thanks.

@Moderator Perfect. Thanks.

@Alex-Kushleyev No. This was a test for the RTK GPS. I'll try.

@SMRazaRizvi Actually connecting my RTK-GPS to the configuration described here: https://docs.modalai.com/voxl2-guides-onboard-offboard-sensors/#external-gps-mag--gnss was not giving me RTK corrections so I am now using the J9 connector on the 5G modem, and that works fine in giving me GPS Coordinates and receiving RTK Connections. But another problem that I am facing is Compass Sensor 0 missing. Do you think there's some setting of the default compass that PX4 was picking up with the M8N GPS that came with the drone? Where can I configure the compass?

@SMRazaRizvi , Please see the following post that answers your question : https://forum.modalai.com/topic/2551/add-mask-file-to-qvio-algorithm . Specifically, you would need to add the name of the static mask file here (ideally full path of the file) : https://gitlab.com/voxl-public/voxl-sdk/services/voxl-qvio-server/-/blob/master/server/main.cpp?ref_type=heads#L384 (staticMaskFileName which is initialized to Null). See the other thread for explanation what the mask format should be.

@SMRazaRizvi , the reference frame should be NED (convention that is used in PX4) - can you please check if that makes sense? For conversion, perhaps this would help : https://answers.ros.org/question/336814/how-to-change-ned-to-enu/

@SMRazaRizvi of course the VIO pose should be correct when you move the drone. can you screen capture the qvio overlay to demonstrate your issue?

@SMRazaRizvi At first glance, it looks like that GPS uses CAN to communicate. There is not a supported CAN interface on VOXL 2. You will need to use an Arduino or something in the middle to translate CAN protocol to something VOXL 2 can interface with

@Moderator @modaltb

@Moderator @Eric-Katzfey Awesome, thanks a lot.

@SMRazaRizvi @Moderator

@SMRazaRizvi in order to arm drone in offboard mode, px4 must be first able to arm in position mode. i would recommend checking if this drone arms in position mode (not manual)

@SMRazaRizvi You have to setup GPS and make EKF Aid mask use GPS, and I don't think using GPS will give you odometry data, you might get some sort of global position which helps you hold position and navigate

@SMRazaRizvi Please upload the px4 logs to logs.px4.io , we can't access your shared drive