Topics created by umlr

Hi @umlr ,

Here's some info for VOXL 2 which shares most of the design.

https://docs.modalai.com/voxl2-linux-user-guide/#gpios

For the RB5, qualcomm had some sample code here:
https://github.com/quic/sample-apps-for-Qualcomm-Robotics-RB5-platform/tree/master/GPIO-samples

For example, we are using it here:
https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-bind/-/blob/master/src/voxl-bind.c#L58

GPIO 46 going to J10 pin 6.

GPIOs 82, 83 and 84 control the onboard LED which you can use and get visual feedback.

We cannot access the download, it requires authentication. Is there a fix for this issue?

@Hector-Nevarez Thanks for the quick reply. If the camera server are disabled I guess VIO can not work?

@umlr said in QGroundControl USB connection for sensor calibration:

Performing sensor calibration over a WiFi connection is known to be unreliable. You should disconnect and perform calibration using a direct USB connection instead.

Alright good to know that calibrating over WiFi is fine.

Yes WiFi connection with QGroundControl worked pretty much out-of-the-box.

@Jeremy-Schmidt
Ah you are right they are all here, I thought I erased everything when flashing the new image.

Another update that could be useful to someone:

I needed to have a high enough frequency on the local position feedback (ROS topic /mavros/local_position/pose) but I was only receiving at 1hz. Usual solution with most FCU is to set the parameter MAV_1_MODE to Onboard but this parameter is not available on the RB5.

Instead I added the line mavlink stream -u 14558 -s LOCAL_POSITION_NED -r 100 in /etc/modalai/full-m0052.config to set the stream rate. The end of my file looks like that.

# Configure a second mavlink instance for onboard messages (e.g. VIO and VOA) mavlink start -u 14556 -t 127.0.0.1 -n lo -m custom mavlink start -x -o 14540 -u 14558 -n lo sleep 1 mavlink stream -u 14557 -s HIGHRES_IMU -r 5 mavlink stream -u 14557 -s ATTITUDE -r 5 mavlink stream -u 14557 -s RC_CHANNELS -r 20 mavlink stream -u 14558 -s LOCAL_POSITION_NED -r 100 sleep 1 # Start up the IMU server to support VIO imu_server start

And this way I managed to get a frequency of around 55hz on /mavros/local_position/pose.