ModalAI Forum

@zauberflote1 amazing, thank you

@Moderator amazing thank you

hi,
we just got the C26 cameras complex and while designing a mount we realized that the step file for the tracking AR0144 module is missing. Is that intentional?

Thank you

@zauberflote1 hei! we are facing a similar issue, do you have a link for your implementation? thanks!

Hi!
just wanted to share (again) some results of the last period in our lab.
Huge thanks for your continuous feedback and support @Alex-Kushleyev @Eric-Katzfey @Chad-Sweet @Morten-Nissov
what an amazing product, the voxl2mini !!!

video results here

enjoy!

Hei @Eric-Katzfey

is there any code example to read the J19 i2c port 'outside' px4 ?

@tom @Eric-Katzfey
Thank you guys!! More to come eheh

@Eric-Katzfey

hei Eric! I thought you would like to see some results (LINK HERE). voxl2 mini + 4in1 mini esc, amazing products!
we submitted to ICUAS2024, more details in case the paper gets accepted

@Eric-Katzfey

you are the best! that worked! hurra!

for anyone bumping into the same issue:

adb shell into voxl2 mini

wget http://voxl-packages.modalai.com/dists/qrb5165/staging/binary-arm64/modalai-slpi_1.1.12_arm64.deb
dpkg -i modalai-slpi_1.1.12_arm64.deb

wget http://voxl-packages.modalai.com/dists/qrb5165/staging/binary-arm64/libfc-sensor_1.0.5_arm64.deb
dpkg -i libfc-sensor_1.0.5_arm64.deb

into the docker:
./clean.sh
./build.sh

into voxl-px4/px4-firmware/
/boards/modalai/voxl2/scripts/install-voxl.sh

tadaaa

@Eric-Katzfey
I thought about it as well, it does not seem to have an effect

anything else I could try? I am scanning the commits to see if this symbol was introduced as some point

hi,

after setting up the docker, updated the submodules and followed the guidelines as described here,
I build and flash the firmware on my voxl2 mini board
then I stop the voxl-px4 service and when I
voxl-px4 -d
I get the following error:

voxl2-mini:/$ voxl-px4 -d
[INFO] Reading from /etc/modalai/voxl-px4.conf
Found DSP signature file
[INFO] Disabling daemon mode

*************************
GPS=AUTODETECT
RC=CRSF_RAW
ESC=VOXL_ESC
POWER MANAGER=NONE
DISTANCE SENSOR=NONE
OSD=DISABLE
DAEMON_MODE=DISABLE
SENSOR_CAL=ACTUAL
EXTRA STEPS:
*************************

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
INFO  [muorb] muorb protobuf initalize method succeeded
INFO  [muorb] SLPI: Creating pthread test_MUORB

INFO  [muorb] succesfully did ADVERTISE_TEST_TYPE
ERROR [muorb] SLPI: Hit maximum number of threads
ERROR [muorb] Test timed out waiting for response
px4: symbol lookup error: px4: undefined symbol: fc_sensor_get_time_offset

PX4 branch voxl-dev, commit 98e2c064459509
This is with everything default without touching any code except the px4.conf file

Any idea?

@Alex-Kushleyev thank you for the fast reply!

I (apparenmtly) solved the issue after upgrading everything to latest version and uploading the correct params for m0129 v3 from my laptop
interestingly the mini2 detects the complement of what my usb-uart cable detecs

but yes thank you for the tools, otherwise I had no idea how to recover a bricked 4in1 lol

Hi! I am trying to use the scripts in esc-tools to read the 4in1 esc for the voxl2mini
and it seems like only 1 of the 4 escs is detected:

voxl2-mini:/usr/share/modalai/voxl-esc-tools$ python3 voxl-esc-verify-params.py 
Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00) 
[GCC 8.4.0]
Found voxl-esc tools bin version: 1.4
VOXL Platform: M0104
Detected RB5 Flight, VOXL2 M0054 or M0104!
INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 2000000
Sending library name request: libslpi_qrb5165_io.so
Received standard error event 2
Sending initialization request
INFO: ESC(s) detected on port: /dev/slpi-uart-2, baud rate: 2000000
ERROR: ESC ID 0 not found
ERROR: ESC ID 1 not found
ERROR: ESC ID 2 not found
INFO: Params from ID 3 match ../voxl-esc-params/boards/esc_params_generic_m0129.xml
ERROR: Some params are invalid or not the same!
       Number of ESCs expected     : 4
       Number of ESCs found        : 1
       Number of invalid params    : 0
       Number of matched params    : 1
voxl2-mini:/usr/share/modalai/voxl-esc-tools$ 

more info about the system:

--------------------------------------------------------------------------------
system-image: 1.7.1-M0104-14.1a-perf-nightly-20231025
kernel:       #1 SMP PREEMPT Thu Oct 26 04:23:26 UTC 2023 4.19.125
--------------------------------------------------------------------------------
hw version:   M0104
--------------------------------------------------------------------------------
voxl-suite:   1.1.2
--------------------------------------------------------------------------------
current IP: wlan0: 192.168.5.158
--------------------------------------------------------------------------------

does anyone have any idea what is going on?

@Eric-Katzfey amazing, thank you!

@Eric-Katzfey

can you please confirm that in order to communicate with a sensor on the DSP, even if the driver already exists in px4, one need to patch the driver as you guys did for voxl2-slpi/src/drivers ?

for example, read an MPU6050 over i2c on J19

@bcj did eventually figured out?? I stumbled upon the same problem!

@Eric-Katzfey what I am trying to do is writing a driver for an external i2c imu
is there any code example where you have already implemented an i2c interface on the dsp on voxl2 mini?

@Eric-Katzfey thanks for your answer

so what could be a way to check if I correctly detect a i2c device on J19? assuming of course wiring is correct

Hi,
Im testing the command i2cdetect with the magnetometer attached on J19 as swhon here
but I get a weird output:

voxl2-mini:/$ i2cdetect 0    
Warning: Can't use SMBus Quick Write command, will skip some addresses
WARNING! This program can confuse your I2C bus, cause data loss and worse!
I will probe file /dev/i2c-0.
I will probe address range 0x03-0x77.
Continue? [Y/n] y
     0  1  2  3  4  5  6  7  8  9  a  b  c  d  e  f
00:                                                 
10:                                                 
20:                                                 
30: -- -- -- -- -- -- -- --                         
40:                                                 
50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
60:                                                 
70:              

I tried to look it up on the web but I do not seem to find any solution for properly probe the bus. Any help?

system details:

system-image: 1.7.1-M0104-14.1a-perf-nightly-20231025
kernel:       #1 SMP PREEMPT Thu Oct 26 04:23:26 UTC 2023 4.19.125
--------------------------------------------------------------------------------
hw version:   M0104
--------------------------------------------------------------------------------
voxl-suite:   1.1.1
--------------------------------------------------------------------------------