@tom Okay thank you for the link! What about the DAA options, do you have any information on this available?
Greetings Thomas

Hi everyone,
we are trying to set up the VOXL2 for DAA currently using 3 tracking cameras, 1 high res and 1 TOF camera. We encountered the issue that we cannot receive any data from the TOF camera:

For: "voxl-inspect-cam -a" we get:

| Pipe Name | bytes | wide | hgt |exp(ms)| gain | frame id |latency(ms)| fps | mbps | format
| hires_large_color |18495360 | 4056 | 3040 | 8.33 | 173 | 41737 | 67.0 | 30.0 | 4441.6 | NV12
| hires_large_encoded | 663 | 4056 | 3040 | 8.33 | 173 | 41737 | 81.2 | 30.0 | 0.3 | H265 (P)
| hires_large_grey |12330240 | 4056 | 3040 | 8.33 | 173 | 41738 | 58.9 | 30.0 | 2961.0 | RAW8
| hires_small_color | 1179648 | 1024 | 768 | 8.33 | 173 | 41739 | 42.4 | 30.0 | 283.3 | NV12
| hires_small_encoded | 138 | 1024 | 768 | 8.33 | 173 | 41739 | 47.9 | 30.0 | 0.5 | H265 (P)
| hires_small_grey | 786432 | 1024 | 768 | 8.33 | 173 | 41739 | 41.7 | 30.0 | 188.9 | RAW8
| hires_snapshot |
| qvio_overlay | 1146880 | 1280 | 896 | 3.38 | 56 | 41718 | 30.9 | 30.0 | 275.3 | RAW8
| tracking_down | 1024000 | 1280 | 800 | 5.13 | 157 | 152 | 18.5 | 30.0 | 245.8 | RAW8
| tracking_front | 1024000 | 1280 | 800 | 3.38 | 56 | 41718 | 19.2 | 30.0 | 245.8 | RAW8
| tracking_rear | 1024000 | 1280 | 800 | 5.00 | 91 | 151 | 18.6 | 30.0 | 245.8 | RAW8

-> No tof_depth measures.
For "journalctl -u voxl-camera-server" we get the following output:
[...]
Jul 21 12:43:52 m0054 voxl-camera-server[1391]: name: tof
Jul 21 12:43:52 m0054 voxl-camera-server[1391]: sensor type: pmd-tof-liow2
Jul 21 12:43:52 m0054 voxl-camera-server[1391]: isEnabled: 1
Jul 21 12:43:52 m0054 voxl-camera-server[1391]: camId: 3
Jul 21 12:43:52 m0054 voxl-camera-server[1391]: camId2: -1
Jul 21 12:43:52 m0054 voxl-camera-server[1391]: fps: 10
Jul 21 12:43:52 m0054 voxl-camera-server[1391]: en_rotate: 1
Jul 21 12:43:52 m0054 voxl-camera-server[1391]: en_rotate2: 0
Jul 21 12:43:52 m0054 voxl-camera-server[1391]: en_preview: 1
Jul 21 12:43:52 m0054 voxl-camera-server[1391]: pre_width: 240
Jul 21 12:43:52 m0054 voxl-camera-server[1391]: pre_height: 1629
Jul 21 12:43:52 m0054 voxl-camera-server[1391]: en_raw_preview: 1
Jul 21 12:43:52 m0054 voxl-camera-server[1391]: en_small_video: 0
Jul 21 12:43:52 m0054 voxl-camera-server[1391]: small_video_width: -1
[...]
Jul 21 12:43:52 m0054 voxl-camera-server[1391]: Connected to cpu-monitor
Jul 21 12:43:52 m0054 voxl-camera-server[1391]: gbm_create_device(156): Info: backend name is: msm_drm
Jul 21 12:43:52 m0054 voxl-camera-server[1391]: Starting Camera: hires (id #1)
Jul 21 12:43:53 m0054 voxl-camera-server[1391]: Starting Camera: tracking_rear (id #2)
Jul 21 12:43:53 m0054 voxl-camera-server[1391]: Starting Camera: tof (id #3)
Jul 21 12:43:53 m0054 voxl-camera-server[1391]: ERROR: Camera 3 failed to find supported preview config: 240x1629
Jul 21 12:43:53 m0054 voxl-camera-server[1391]: WARNING: Failed to start cam tof due to invalid resolution
Jul 21 12:43:53 m0054 voxl-camera-server[1391]: WARNING: assuming cam is missing and trying to compensate
Jul 21 12:43:53 m0054 voxl-camera-server[1391]: Starting Camera: tracking_down (originally id #4) with id offset: 1
Jul 21 12:43:53 m0054 voxl-camera-server[1391]: ------ voxl-camera-server: Started 4 of 5 cameras
Jul 21 12:43:53 m0054 voxl-camera-server[1391]: ------ voxl-camera-server: Camera server is now running
Jul 21 12:43:54 m0054 voxl-camera-server[1391]: connected to mavlink pip

Also when checking the config-file we saw no parameter for changing the resolution of the TOF Camera:

{
"type": "pmd-tof-liow2",
"name": "tof",
"enabled": true,
"camera_id": 3,
"fps": 10,
"en_rotate": true,
"ae_mode": "off",
"exposure_max_us": 6000,
"standby_enabled": false,
"decimator": 5
},

Question: Is the resolution really the issue and if so where can we change it?
Thanks in advance!

Best regards,
Thomas

@Eric-Katzfey
Hi Eric,
Is it possible to use VOXL2 in combination with CubeOrange (running ArduPilot) and use it for DAA purposes, i.e. drone stops when there is an obstacle?
Can you provide any link which directly shows how to do that?
Also, what DAA options are available and is there any documentation on it?

Best regards,
Thomas

@Eric-Katzfey
Hi Eric,
we saw that, but we still would like to rely on our flight controller. What about the outdoor application?
Thank you for the quick answer!

Best regards,
Thomas

Hello everyone,

is VOXL2 guaranteed to also work outdoors or only indoors (any issues with sunlight etc.)?

Furthermore is Ardupilot still considered ‘experimental’ or has it been tested on several copters? Are there any limitations? We are planning to use the VOXL2 as a companion computer for an Ardupilot flight controller and we found only reliable documentation for PX4 flight controller.

Thank you in advance!

Best regards,
Thomas