@Alex-Kushleyev I haven't yet but will try doing that. I just wasn't sure how to configure the camera for VIO. Thank you!

Hi everyone, I am trying to read mavlink messages like the pressure and altitude from the VOXL 2 sensors using python. I wanted to make sure that the udpin to the mavlink connection is correct? Would setting the udpin to localhost work or is there another udpin address to use for connecting the VOXL 2 board to the mavlink server? I set the port number to 14557 based on the first diagram in this page: (https://docs.modalai.com/mavlink/).

# MAVLINK Common Message Set: https://mavlink.io/en/messages/common.html
from pymavlink import mavutil

the_connection = mavutil.mavlink_connection('udpin:localhost:14557')

the_connection.wait_heartbeat()
print("Heartbeat from system (system %u component %u)" % (the_connection.target_system, the_connection.target_component))

while True:
    try:
        # local xyz position
        msg_pos = the_connection.recv_match(type='LOCAL_POSITION_NED', blocking=True)
        print(msg_pos.x, msg_pos.y, msg_pos.z)

        # altitude
        msg_altitude = the_connection.recv_match(type='ALTITUDE', blocking=True)
        print(msg_altitude.altitude_local, msg_altitude.altitude_relative)

        # pressure
        msg_pressure = the_connection.recv_match(type='SCALED_PRESSURE', blocking=True)
        print(msg_pressure.press_abs)

    except KeyboardInterrupt:
        print('Terminating mavlink...')
        break

I am trying to implement Visual Inertial Odometry using the QVIO server to find the local XYZ positions, but the documentation only mentions it working with the tracking camera (Camera and IMU Calibration section in https://docs.modalai.com/voxl-qvio-server-0_9/#resetting-vio).

Would I be able to use the OV7982 image sensor on VOXL 2 so that I get a similar output as the one below when I run voxl-inspect-qvio? If that would work, are there additional configurations or parameters I need to change before running VIO?

yocto:/$ voxl-inspect-qvio

    T_imu_wrt_vio (m)   |Roll Pitch Yaw (deg)| state| error_code
   -4.96    0.94   -0.00|  17.9  -52.3    9.3| OKAY | 

@Alex-Kushleyev Got it. Thank you your help and for taking the time to answer my questions!

Sashank

@Alex-Kushleyev By storing to mpa I mean creating a new service under voxl-inspect-services and storing px4 messages under that new service.

I understood that px4-listener could be directly executed in python3, but I was assuming that listening to data from one of the voxl-services would be the a faster or more efficient way to get data on the VOXL board.

Sashank

@Alex-Kushleyev So what I wanted to ask was whether you could pipe px4 messages in general into mpa. The idea is I would like to do something like this:

px4-listener sensor_baro -> some measurements -> Get pressure measurement -> store to mpa -> read mpa pipe from python

Would it be possible to create a pipeline that looks something like this?

@Alex-Kushleyev Thank you for your response, I will try that out. I have a follow up question, is there a way to make a pipe from the px4 listener that will be running in the background?

I see that in the list of voxl-inspect-services, there isn't a service to read barometer data. It looks like the only ways to read the data from the onboard barometer on the VOXL 2 is to either use the PX4 Flight controller or the I2C address given in the page on onboard sensors (https://docs.modalai.com/voxl2-onboard-sensors/). I ultimately want to create a python script that listens to the barometer data.

How do I create a new pipe using MPA that publishes barometer data?