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    Taylor Presley

    @Taylor Presley

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    Best posts made by Taylor Presley

    • RE: HITL with voxl 2

      @Eric-Katzfey @Tamas-Pal-0 For future users troubleshooting HITL setup, I was having the same issue as above. This cable would not allow me to set the latency or share data with the VOXL 2 through J18 port, but this cable works as intended.

      posted in Ask your questions right here!
      Taylor PresleyT
      Taylor Presley

    Latest posts made by Taylor Presley

    • RE: Voxl-mapper on VOXL2

      @tom nevermind, I got it figured out!

      posted in Mapping and Planning
      Taylor PresleyT
      Taylor Presley
    • RE: Voxl-mapper on VOXL2

      @Jgaucin @tom Any tips on getting this to work? I am running into the same issue using a Sentinel with voxl-suite 1.1

      Any help is appreciated!
      Thanks,
      Taylor

      posted in Mapping and Planning
      Taylor PresleyT
      Taylor Presley
    • Calibrating Extrinsics and DFS

      Re: VOXL2 Stereo Calibrate ERROR

      Hey everyone,

      I'm recalibrating the Sentinel stereo cameras because it was not publishing DFS (even though the server is running).

      Upon trying to recalibrate, I'm having a similar issue to @AP123 post VOXL2 Stereo Calibrate ERROR.

      All comments and recommendations are welcome!

      Thanks,
      Taylor

      voxl2:/$ voxl-calibrate-camera stereo_front -s 6x9 -l 0.02
      Please open voxl-portal in a web browser to view the camera calibrator overlay stream
      Running Calibration...
      Calibrating Left Camera
      Running Calibration...
      Running Calibration...
      Running Calibration...
      Matrix
      [548.5382302680308, 0, 285.3415669716975;
       0, 547.0025566893958, 235.3038337229943;
       0, 0, 1]
      Distortion
      [-0.2424323763061194;
       0.1269460760379177;
       -0.004142521667776578;
       0.002519660999314344;
       0]
      distortion_model: plumb_bob
      Re-projection error reported by calibrateCamera: 0.484597
      Calibration Succeded!
      Calibrating Right Camera
      Running Calibration...
      Running Calibration...
      Matrix
      [543.062224502327, 0, 301.719040785862;
       0, 542.0482517180614, 245.9552291727296;
       0, 0, 1]
      Distortion
      [-0.236760512593058;
       0.1416137307136648;
       -0.002976128262009898;
       0.0009654060730829055;
       0]
      distortion_model: plumb_bob
      Re-projection error reported by calibrateCamera: 0.528407
      Calibration Succeded!
      Calibrating Extrinsics
      7 frames will be processed
      R
      [0.999257189294548, -0.03760915797903753, -0.008403622984628861;
       0.03775986819471018, 0.9991144801232372, 0.01855930930804526;
       0.007698181413691082, -0.01886284295066306, 0.999792444039632]
      T
      [-0.07616424149746555;
       -0.001485191500948734;
       -0.01076830039005899]
      Re-projection error reported by stereoCalibrate: 1.421312
      Detected horizontal stereo pair
      Distance between cameras: 0.0762
      Extrinsics Calibration Failed
      exceeded allowable max reprojection error:  0.5
      
      Saved intrinsics to: /data/modalai/opencv_stereo_front_intrinsics.yml
      Running Calibration...
      Exiting Cleanly
      
      

      Additional details for reference:

      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  |   Running   |    97.7%
       voxl-cpu-monitor         |  Enabled  |   Running   |     0.4%
       voxl-dfs-server          |  Enabled  |   Running   |    18.2%
       voxl-feature-tracker     | Disabled  | Not Running |  
       voxl-flow-server         | Disabled  | Not Running |  
       voxl-imu-server          |  Enabled  |   Running   |     4.4%
       voxl-lepton-server       | Disabled  | Not Running |  
       voxl-mavcam-manager      |  Enabled  |   Running   |     0.0%
       voxl-mavlink-server      |  Enabled  |   Running   |     2.7%
       voxl-modem               | Disabled  | Not Running |  
       voxl-neopixel-manager    | Disabled  | Not Running |  
       voxl-open-vins-server    | Disabled  | Not Running |  
       voxl-portal              |  Enabled  |   Running   |    31.8%
       voxl-px4-imu-server      | Disabled  | Not Running |  
       voxl-px4                 |  Enabled  |   Running   |    29.5%
       voxl-qvio-server         |  Enabled  |   Running   |    13.5%
       voxl-rangefinder-server  | Disabled  | Not Running |  
       voxl-remote-id           | Disabled  | Not Running |  
       voxl-softap              |  Enabled  |  Completed  |  
       voxl-static-ip           | Disabled  | Not Running |  
       voxl-streamer            |  Enabled  |   Running   |     0.0%
       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   |     4.1%
       voxl-wait-for-fs         |  Enabled  |  Completed  |  
      
      
      mdr@mdr-System-Product-Name:~$ adb shell
      * daemon not running; starting now at tcp:5037
      * daemon started successfully
      
                                                               ▂▂▂▂▂▂▂▂▂▂▂▂▂          
                                                          ▂▄▆▆██▛▀▀▀▀▀▀▀▀▜████▆▆▄▂    
       ███╗   ███╗ ██████╗ ██████╗  █████╗ ██╗         ▗▆████▀▔             ▔▔▀▀▀▀▚▄  
       ████╗ ████║██╔═══██╗██╔══██╗██╔══██╗██║       ▗▟████▀     ▗██▖    ▐█   ▝▀▆▄▄▄  
       ██╔████╔██║██║   ██║██║  ██║███████║██║      ▟████▀      ▗█▘▝█▖   ▐█       ▜█▀ 
       ██║╚██╔╝██║██║   ██║██║  ██║██╔══██║██║      █▌ ▐█▌     ▗█▘  ▝█▖  ▐█       ▐▄  
       ██║ ╚═╝ ██║╚██████╔╝██████╔╝██║  ██║███████╗  ▀████    ▗█▘    ▝█▖ ▐█     ▂▄███ 
       ╚═╝     ╚═╝ ╚═════╝ ╚═════╝ ╚═╝  ╚═╝╚══════╝    ▀▀██▄▄                ▂▆███▀   
                                                           ▀▀██▄▄ ▀▀▆▄▄▄▄▆██▀▀▀▘      
      
      
      --------------------------------------------------------------------------------
      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:   1.1.3-1
      
      
      posted in VOXL 2
      Taylor PresleyT
      Taylor Presley
    • voxl-dfs-server stack smashing

      Hey guys,

      I've recently been having trouble with the voxl-dfs-server. I'm running voxl-suite 1.0 on Sentinel. I've recalibrated the stereo cameras and enabled the server, but it isn't running. When I try to run I get a "stack smashing" error. Has anyone else encountered this issue? Any recommendations to fix? Code is below, all inputs are appreciated!

                                                               ▂▂▂▂▂▂▂▂▂▂▂▂▂            
                                                          ▂▄▆▆██▛▀▀▀▀▀▀▀▀▜████▆▆▄▂      
       ███╗   ███╗ ██████╗ ██████╗  █████╗ ██╗         ▗▆████▀▔             ▔▔▀▀▀▀▚▄    
       ████╗ ████║██╔═══██╗██╔══██╗██╔══██╗██║       ▗▟████▀     ▗██▖    ▐█   ▝▀▆▄▄▄    
       ██╔████╔██║██║   ██║██║  ██║███████║██║      ▟████▀      ▗█▘▝█▖   ▐█       ▜█▀█▄ 
       ██║╚██╔╝██║██║   ██║██║  ██║██╔══██║██║      █▌ ▐█▌     ▗█▘  ▝█▖  ▐█       ▐▄ ▄█ 
       ██║ ╚═╝ ██║╚██████╔╝██████╔╝██║  ██║███████╗  ▀████    ▗█▘    ▝█▖ ▐█     ▂▄███▀  
       ╚═╝     ╚═╝ ╚═════╝ ╚═════╝ ╚═╝  ╚═╝╚══════╝    ▀▀██▄▄                ▂▆███▀     
                                                           ▀▀██▄▄ ▀▀▆▄▄▄▄▆██▀▀▀▘        
      
      
      --------------------------------------------------------------------------------
      system-image: 1.6.2-M0054-14.1a-perf
      kernel:       #1 SMP PREEMPT Fri May 19 22:19:33 UTC 2023 4.19.125
      --------------------------------------------------------------------------------
      hw version:   M0054
      --------------------------------------------------------------------------------
      voxl-suite:   
      --------------------------------------------------------------------------------
      current IP: wlan0: 192.168.8.1
      --------------------------------------------------------------------------------
      
      
      voxl2:/$ voxl-inspect-services
      Scanning services...
      
       Service Name         |  Enabled  |   Running   |  CPU Usage
      ---------------------------------------------------------------
       docker-autorun       | Disabled  | Not Running |  
       docker-daemon        | Disabled  | Not Running |  
       modallink-relink     | Disabled  | Not Running |  
       voxl-camera-server   |  Enabled  |   Running   |    71.8%
       voxl-cpu-monitor     |  Enabled  |   Running   |     0.5%
       voxl-dfs-server      |  Enabled  | Not Running |  
       voxl-imu-server      |  Enabled  |   Running   |     5.3%
       voxl-lepton-server   | Disabled  | Not Running |  
       voxl-mavcam-manager  |  Enabled  |   Running   |     0.0%
       voxl-mavlink-server  |  Enabled  |   Running   |     2.5%
       voxl-modem           | Disabled  | Not Running |  
       voxl-portal          |  Enabled  |   Running   |     0.2%
       voxl-px4-imu-server  | Disabled  | Not Running |  
       voxl-px4             |  Enabled  |   Running   |    33.0%
       voxl-qvio-server     |  Enabled  |   Running   |    37.6%
       voxl-remote-id       | Disabled  | Not Running |  
       voxl-softap          |  Enabled  |  Completed  |  
       voxl-static-ip       | Disabled  | Not Running |  
       voxl-streamer        |  Enabled  |   Running   |     0.0%
       voxl-tag-detector    |  Enabled  |   Running   |    18.5%
       voxl-tflite-server   |  Enabled  |   Running   |     0.9%
       voxl-time-sync       | Disabled  | Not Running |  
       voxl-uvc-server      | Disabled  | Not Running |  
       voxl-vision-hub      |  Enabled  |   Running   |     2.3%
       voxl-wait-for-fs     |  Enabled  |  Completed  |  
      voxl2:/$ voxl-configure-dfs-server
      bash: voxl-configure-dfs-server: command not found
      voxl2:/$ voxl-configure-dfs-server enable
      bash: voxl-configure-dfs-server: command not found
      voxl2:/$ systemctl enable voxl-dfs-server
      
      voxl2:/$ 
      voxl2:/$ voxl-dfs-server
      =================================================================
      min_disparity:   4
      max_disparity:   64
      min_threshold:   10
      cost_threshold:  10
      width:           640
      height:          480
      pc_skip_n_lines: 4
      dfs pair #0
          enable:             1
          input_pipe:         stereo_front
          skip_n_frames:      1
          blur_size:          0
          post_median_size:   0
          intrinsics_file:    /data/modalai/opencv_stereo_front_intrinsics.yml
          extrinsics_file:    /data/modalai/opencv_stereo_front_extrinsics.yml
      dfs pair #1
          enable:             1
          input_pipe:         stereo_rear
          skip_n_frames:      1
          blur_size:          0
          post_median_size:   0
          intrinsics_file:    /data/modalai/opencv_stereo_rear_intrinsics.yml
          extrinsics_file:    /data/modalai/opencv_stereo_rear_extrinsics.yml
      =================================================================
      loading calibration files
      for Pair #0, loaded these lens params:
      f:  476.498688
      cx: 337.858215
      cy: 244.905640
      baseline_m: 0.080362
      for Pair #1, loaded these lens params:
      f:  501.284851
      cx: 323.020020
      cy: 223.681076
      baseline_m: 0.079995
      initializing dfs module
      opening cameras paused
      client voxl-vision-hub0 connected to ch 2
      client voxl-vision-hub0 connected to ch 5
      connected to pipe stereo_front
      connected to pipe stereo_rear
      *** stack smashing detected ***: <unknown> terminated
      Aborted
      
      
      posted in Ask your questions right here!
      Taylor PresleyT
      Taylor Presley
    • RE: VOXL 2 No ESC(s) detected

      @Alex-Kushleyev we were able to run voxl-esc tools but could only spin up 3 motors. The new ESC that you sent us works now and I'm able to spin all the motors. I wasn't able really to trace a root cause, but I'm just happy that it's working now. Thanks for all the help so far!

      posted in VOXL 2
      Taylor PresleyT
      Taylor Presley
    • RE: VOXL 2 No ESC(s) detected

      @Alex-Kushleyev @Vinny @modaltb It has taken a while for me to run this to ground, but I have an update. It does look like there is a tx packet into ESC and a reply when I run the script, and from what I can tell they are simultaneous. Both are at 3.3V and measuring resistance between the lines is ~40-50 kilohms.

      I've ordered another ESC and will perform the same tests to see if I can get a successful scan on it. Thanks for the help so far!

      Taylor

      posted in VOXL 2
      Taylor PresleyT
      Taylor Presley
    • RE: VOXL 2 No ESC(s) detected

      @modaltb @Vinny I'm using an Adafruit USB to TTL cable that I had around. Only gnd, tx, and rx are connected, and the ESC is powered by the power supply. It had the same issue.

      mdr@mdr-System-Product-Name:~/voxl-esc-dev-python27/tools$ python voxl-esc-scan.py
      INFO: Device and baud rate are not provided, attempting to autodetect..
      Scanning for ESC firmware: /dev/ttyUSB0, baud: 250000
      Scanning for ESC firmware: /dev/ttyUSB0, baud: 2000000
      Scanning for ESC firmware: /dev/ttyUSB0, baud: 921600
      Scanning for ESC firmware: /dev/ttyUSB0, baud: 57600
      Scanning for ESC firmware: /dev/ttyUSB0, baud: 115200
      Scanning for ESC firmware: /dev/ttyUSB0, baud: 230400
      Scanning for ESC bootloader: /dev/ttyUSB0, baud: 38400
      Scanning for ESC bootloader: /dev/ttyUSB0, baud: 230400
      Scanning for ESC bootloader: /dev/ttyUSB0, baud: 921600
      ERROR: No ESC(s) detected, exiting.
      
      

      I can order the other dongle, but I'm measuring traffic on Tx and Rx. Thoughts?

      posted in VOXL 2
      Taylor PresleyT
      Taylor Presley
    • RE: VOXL 2 No ESC(s) detected

      @modaltb confirmed I'm using J18 and the ESC has power (I get an LED blink and quick chirp on connection). I've got a borrowed oscilloscope and confirmed there is traffic on the ESC. I also tried switching TX/RX on the cabling and this didn't help. I've also now installed voxl-esc per this discussion now and still get the following:

      voxl2:/$ voxl-esc scan
      enabling bridge
      bridge enabled
      Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00) 
      [GCC 8.4.0]
      Found voxl-esc tools bin version: 1.1
      VOXL Platform: M0054
      Detected VOXL2 M0054 or M0104!
      INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 2000000
      INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 250000
      INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 921600
      INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 230400
      INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 57600
      INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 115200
      INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 38400
      Updated baud rate to 38400
      INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400
      Updated baud rate to 230400
      ERROR: No ESC(s) detected, exiting.
      FAILED to ping ESCs
      disabling bridge
      bridge disabled
      
      

      What would you recommend for next step?

      posted in VOXL 2
      Taylor PresleyT
      Taylor Presley
    • VOXL 2 No ESC(s) detected

      I am following the installation instructions for VOXL 2 found here. I've reflashed the system image with release 0.9.5 from 3/30, installed the slpi uart bridge package to VOXL2, disabled px4, and created the symlink for libpx4. I've also doublechecked that the MCBL_00029-1 cable is correct per this wiring diagram.

      I've run out of options, can someone help me troubleshoot connecting/configuring the VOXL 2 ESC board? Any help is greatly appreciated!

      Outputs are below, thanks in advance,
      Taylor

      mdr@mdr-System-Product-Name:~/Downloads$ adb shell
      
                                                               ▂▂▂▂▂▂▂▂▂▂▂▂▂          
                                                          ▂▄▆▆██▛▀▀▀▀▀▀▀▀▜████▆▆▄▂    
       ███╗   ███╗ ██████╗ ██████╗  █████╗ ██╗         ▗▆████▀▔             ▔▔▀▀▀▀▚▄  
       ████╗ ████║██╔═══██╗██╔══██╗██╔══██╗██║       ▗▟████▀     ▗██▖    ▐█   ▝▀▆▄▄▄  
       ██╔████╔██║██║   ██║██║  ██║███████║██║      ▟████▀      ▗█▘▝█▖   ▐█       ▜█▀ 
       ██║╚██╔╝██║██║   ██║██║  ██║██╔══██║██║      █▌ ▐█▌     ▗█▘  ▝█▖  ▐█       ▐▄  
       ██║ ╚═╝ ██║╚██████╔╝██████╔╝██║  ██║███████╗  ▀████    ▗█▘    ▝█▖ ▐█     ▂▄███ 
       ╚═╝     ╚═╝ ╚═════╝ ╚═════╝ ╚═╝  ╚═╝╚══════╝    ▀▀██▄▄                ▂▆███▀   
                                                           ▀▀██▄▄ ▀▀▆▄▄▄▄▆██▀▀▀▘      
      
      
      --------------------------------------------------------------------------------
      system-image: 1.5.5-M0054-14.1a-perf
      kernel:       #1 SMP PREEMPT Fri Mar 24 00:48:55 UTC 2023 4.19.125
      --------------------------------------------------------------------------------
      hw version:   M0054
      --------------------------------------------------------------------------------
      voxl-suite:   0.9.5
      --------------------------------------------------------------------------------
      
      
      voxl2:/$ cd /home/root/voxl-esc/voxl-esc-tools/
      voxl2:~/voxl-esc/voxl-esc-tools(dev)$ ./voxl-esc-scan.py 
      Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00) 
      [GCC 8.4.0]
      Found voxl-esc tools bin version: 1.1
      VOXL Platform: M0054
      Detected VOXL2 M0054 or M0104!
      INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 2000000
      INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 250000
      INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 921600
      INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 230400
      INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 57600
      INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 115200
      INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 38400
      Updated baud rate to 38400
      INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400
      Updated baud rate to 230400
      ERROR: No ESC(s) detected, exiting.
      voxl2:~/voxl-esc/voxl-esc-tools(dev)$ voxl-inspect-services
       Service Name         |  Enabled  |   Running   |  CPU Usage
      ---------------------------------------------------------------
       docker-autorun       | Disabled  | Not Running |  
       docker-daemon        | Disabled  | Not Running |  
       modallink-relink     | Disabled  | Not Running |  
       voxl-camera-server   | Disabled  | Not Running |  
       voxl-cpu-monitor     | Disabled  | Not Running |  
       voxl-dfs-server      | Disabled  | Not Running |  
       voxl-imu-server      | Disabled  | Not Running |  
       voxl-mavlink-server  | Disabled  | Not Running |  
       voxl-modem           | Disabled  | Not Running |  
       voxl-portal          | Disabled  | Not Running |  
       voxl-px4-imu-server  | Disabled  | Not Running |  
       voxl-px4             | Disabled  | Not Running |  
       voxl-qvio-server     | Disabled  | Not Running |  
       voxl-remote-id       | Disabled  | Not Running |  
       voxl-softap          | Disabled  | Not Running |  
       voxl-static-ip       | Disabled  | Not Running |  
       voxl-streamer        | Disabled  | Not Running |  
       voxl-tag-detector    | Disabled  | Not Running |  
       voxl-tflite-server   | Disabled  | Not Running |  
       voxl-time-sync       | Disabled  | Not Running |  
       voxl-vision-px4      | Disabled  | Not Running |  
       voxl-wait-for-fs     |  Enabled  |  Completed  |
      
      posted in VOXL 2
      Taylor PresleyT
      Taylor Presley
    • RE: VOXL 2 Spektrum RC Issue

      @Eric-Katzfey I've been stuck on travel for the past month but happy to report that your solution worked! input_rc is publishing and I was able to calibrate in QGC.

      posted in VOXL 2
      Taylor PresleyT
      Taylor Presley