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Hi, I have setup the voxl-mapper on my VOXL 2 with TOF camera. I have tested figure 8 and trajectory following. They are working perfectly.
I would like to know how can I send the goal/ trajectory setpoints to the voxl-mapper to use rrt* to create the trajectory and to follow that.
I don't think I can just send it to /fmu/in/trajectory_setpoint, can I?
thanks in advance.
I'm using VOXL2 I have connected the coax board to the voxl . when I screw the board on the drone firmly. the voxl boots up and works fine but I loose connection often. when I unscrew the voxl 2 and try to boot it. it doesn't boot. I have tried installing new SDK and downgrading it. no affect.
this behaviour is very weard I can't understand what is going on and what could be the reason.
@Alex-Kushleyev I have got this camera two days back and I have connected it and tested them both they, worked fine. I had to unbrick my board so I unbricked it and installed new SDK 1.4.1.
It was working fine before and after installation. I have just disconnected the camera and conected it again, because I was installing it in the holder that I 3D printed, just before installing I have tested it once, it is not working since than. only once I have disconnected the cable and connected it again, it stopped working. I have checked there is no damage to cables or board. I have handled them properly.
Thank you @Alex-Kushleyev
This is the output from my voxl-inspect-cam -a
| Pipe Name | bytes | wide | hgt |exp(ms)| gain | frame id |lt
| tof_conf | 43200 | 180 | 240 | 2.70 | 0 | 2824 | 8
| tof_depth | 43200 | 180 | 240 | 2.70 | 0 | 2824 | 8
| tof_ir | 43200 | 180 | 240 | 2.70 | 0 | 2824 | 8
| tracking_front | 1024000 | 1280 | 800 | 12.00 | 1596 | 8926 | 8
| tracking_front_bayer | 1024000 | 1280 | 800 | 12.00 | 1596 | 8926 | 8
| tracking_front_misp_grey | 1024000 | 1280 | 800 | 12.00 | 1596 | 8926 | 8
| tracking_front_misp_norm | 1024000 | 1280 | 800 | 12.00 | 1596 | 8926 | 8
This is the output when I run voxl-camera-server.
voxl-camera-server
existing instance of voxl-camera-server found, attempting to stop it
MISP awb str: auto
Setting MISP AWB to Autodetected system image 1.8.2
using new imx412 defaults
MISP awb str: auto
Setting MISP AWB to Auto=================================================================
configuration for 4 cameras:
cam #0
name: tracking_front
sensor type: ar0144
isEnabled: 1
camId: 0
camId2: -1
fps: 30
en_rotate: 1
en_rotate2: 0
en_preview: 1
pre_width: 1280
pre_height: 800
en_raw_preview: 1
en_small_video: 0
small_video_width: -1
small_video_height: -1
en_large_video: 0
large_video_width: -1
large_video_height: -1
en_misp: 1
misp_width: 1280
misp_height: 800
en_snapshot: 0
snap_width: -1
snap_height: -1
exif_focal_length: 0.000000
exif_focal_len_35mm_format:0
exif_fnumber: 0.000000
ae_mode: lme_msv
msv_exposure_min_us: 20
msv_exposure_max_us: 12000
gain_min : 54
gain_max : 8000
standby_enabled: 0
decimator: 1
independent_exposure:0
cam #1
name: hires
sensor type: imx412
isEnabled: 1
camId: 1
camId2: -1
fps: 30
en_rotate: 0
en_rotate2: 0
en_preview: 0
pre_width: 640
pre_height: 480
en_raw_preview: 0
en_small_video: 1
small_video_width: 1024
small_video_height: 768
en_large_video: 1
large_video_width: 4056
large_video_height: 3040
en_misp: 0
misp_width: -1
misp_height: -1
en_snapshot: 1
snap_width: 4056
snap_height: 3040
exif_focal_length: 3.100000
exif_focal_len_35mm_format:17
exif_fnumber: 1.240000
ae_mode: isp
msv_exposure_min_us: 20
msv_exposure_max_us: 33000
gain_min : 54
gain_max : 8000
standby_enabled: 0
decimator: 1
independent_exposure:0
cam #2
name: tof
sensor type: pmd-tof-liow2
isEnabled: 1
camId: 2
camId2: -1
fps: 10
en_rotate: 1
en_rotate2: 0
en_preview: 1
pre_width: 240
pre_height: 1629
en_raw_preview: 1
en_small_video: 0
small_video_width: -1
small_video_height: -1
en_large_video: 0
large_video_width: -1
large_video_height: -1
en_misp: 0
misp_width: -1
misp_height: -1
en_snapshot: 0
snap_width: -1
snap_height: -1
exif_focal_length: 0.000000
exif_focal_len_35mm_format:0
exif_fnumber: 0.000000
ae_mode: off
msv_exposure_min_us: 0
msv_exposure_max_us: 6000
gain_min : 0
gain_max : 0
standby_enabled: 0
decimator: 5
independent_exposure:0
cam #3
name: tracking_down
sensor type: ar0144
isEnabled: 1
camId: 3
camId2: -1
fps: 30
en_rotate: 0
en_rotate2: 0
en_preview: 1
pre_width: 1280
pre_height: 800
en_raw_preview: 1
en_small_video: 0
small_video_width: -1
small_video_height: -1
en_large_video: 0
large_video_width: -1
large_video_height: -1
en_misp: 1
misp_width: 1280
misp_height: 800
en_snapshot: 0
snap_width: -1
snap_height: -1
exif_focal_length: 0.000000
exif_focal_len_35mm_format:0
exif_fnumber: 0.000000
ae_mode: lme_msv
msv_exposure_min_us: 20
msv_exposure_max_us: 12000
gain_min : 54
gain_max : 8000
standby_enabled: 0
decimator: 1
independent_exposure:0
fsync_en: 1
fsync_gpio: 109
=================================================================
thread is locked to cores: 4 5 6 7
connected to mavlink pipe
Connected to cpu-monitor
Starting Camera: tracking_front (id #0)
gbm_create_device(156): Info: backend name is: msm_drm
MISP Initializing!!!
Detected 1 platform(s)
Detected 1 GPU device(s)
Starting Camera: hires (id #1)
ERROR: Camera 1 failed to find supported stream config: 1024x768
WARNING: Failed to start cam hires due to invalid resolution
WARNING: assuming cam is missing and trying to compensate
Starting Camera: tof (originally id #2) with id offset: 1
Starting Camera: tracking_down (originally id #3) with id offset: 1
WARNING: cam tracking_down (id 2) does not seem to be alive
------ voxl-camera-server: Started 2 of 4 cameras
------ voxl-camera-server: Camera server is now running
camera tracking_front frame size: 1024000 (1540096 alloc).. raw bpp: 8
WARNING: [ROYALE_WARNING] {ROYALE_FRAME_DROP}: Dropped 10223 frame(s).
WARNING: [ROYALE_WARNING] {ROYALE_RAW_FRAME_STATS}: Raw frame drop stats: Bridge 10223 frames dropped, FC 0 frames dropped, 9 frames delivered.
WARNING: [ROYALE_WARNING] {ROYALE_FRAME_DROP}: Dropped 9 frame(s).
WARNING: [ROYALE_WARNING] {ROYALE_RAW_FRAME_STATS}: Raw frame drop stats: Bridge 9 frames dropped, FC 0 frames dropped, 81 frames delivered.
^C
received SIGINT Ctrl-C
------ voxl-camera-server: Camera server is now stopping
WARNING: Deleting buffers: 6 of 16 still in use
WARNING: Deleting buffers: 6 of 16 still in use
------ voxl-camera-server: Camera server exited gracefully, returning 0
this is my voxl sdk info
voxl2:~$ voxl-version
--------------------------------------------------------------------------------
system-image: 1.8.02-M0054-14.1a-perf
kernel: #1 SMP PREEMPT Mon Nov 11 22:47:44 UTC 2024 4.19.125
--------------------------------------------------------------------------------
hw platform: M0054
mach.var: 1.0.1
--------------------------------------------------------------------------------
voxl-suite: 1.4.3
--------------------------------------------------------------------------------
Packages:
Thank you for help.
@Alex-Kushleyev I have only three cameras one TOF, Tracking, Hires each. TOF and Tracking are working properly.
for calibration I',m just calibrating Tracking camera with fish eye
voxl-calibrate-cameras -f -s 8x5 -l 0.029
it is trying to calibrate extrinsics automatically.
sorry for the trouble, but I can't get my head around why this is happening,
voxl2:~$ ls /usr/lib/camera/*sensormodule*
/usr/lib/camera/com.qti.sensormodule.ar0144_combo_0.bin
/usr/lib/camera/com.qti.sensormodule.ar0144_combo_6.bin
/usr/lib/camera/com.qti.sensormodule.imx412_fpv_1.bin
/usr/lib/camera/com.qti.sensormodule.irs2975c_3.bin
voxl2:~$
is there any chance my SDK installation might be corrupt. I have tried using 1.4.1 and 1.4.0.
@Alex-Kushleyev
Yeah I did follow the exact camera connections given on C26 configuration except that I don't have a down tracking camera. everything else is same. It's weird that it worked at start and than no response at all.
@Alex-Kushleyev Thank you for the advise , I have been using the kernal image which includes M0173 breakout board.
voxl2:~$ voxl-camera-server -l
existing instance of voxl-camera-server found, attempting to stop it
DEBUG: Attempting to open the hal module
DEBUG: SUCCESS: Camera module opened on attempt 0
DEBUG: ----------- Number of cameras: 2
DEBUG: Cam idx: 0, Cam slot: 0, Slave Address: 0x0030, Sensor Id: 0x0356
DEBUG: Cam idx: 1, Cam slot: 3, Slave Address: 0x007A, Sensor Id: 0x2975
DEBUG: Note: This list comes from the HAL module and may not be indicative
DEBUG: of configurations that have full pipelines
DEBUG: Number of cameras: 2
====================================
Stats for camera: 0
ANDROID_SCALER_AVAILABLE_RAW_SIZES:
These are likely supported by the sensor
1280 x 800
1280 x 800
ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
These are NOT necessarily supported by the sensor
1280 x 800 HAL_PIXEL_FORMAT_YCbCr_420_888
1280 x 800 HAL_PIXEL_FORMAT_BLOB
1280 x 768 HAL_PIXEL_FORMAT_YCbCr_420_888
1280 x 768 HAL_PIXEL_FORMAT_BLOB
1280 x 720 HAL_PIXEL_FORMAT_YCbCr_420_888
1280 x 720 HAL_PIXEL_FORMAT_BLOB
1024 x 738 HAL_PIXEL_FORMAT_YCbCr_420_888
1024 x 738 HAL_PIXEL_FORMAT_BLOB
1024 x 768 HAL_PIXEL_FORMAT_YCbCr_420_888
1024 x 768 HAL_PIXEL_FORMAT_BLOB
864 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
864 x 480 HAL_PIXEL_FORMAT_BLOB
800 x 600 HAL_PIXEL_FORMAT_YCbCr_420_888
800 x 600 HAL_PIXEL_FORMAT_BLOB
800 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
800 x 480 HAL_PIXEL_FORMAT_BLOB
720 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
720 x 480 HAL_PIXEL_FORMAT_BLOB
640 x 512 HAL_PIXEL_FORMAT_YCbCr_420_888
640 x 512 HAL_PIXEL_FORMAT_BLOB
640 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
640 x 480 HAL_PIXEL_FORMAT_BLOB
640 x 400 HAL_PIXEL_FORMAT_YCbCr_420_888
640 x 400 HAL_PIXEL_FORMAT_BLOB
640 x 360 HAL_PIXEL_FORMAT_YCbCr_420_888
640 x 360 HAL_PIXEL_FORMAT_BLOB
352 x 288 HAL_PIXEL_FORMAT_YCbCr_420_888
352 x 288 HAL_PIXEL_FORMAT_BLOB
320 x 240 HAL_PIXEL_FORMAT_YCbCr_420_888
320 x 240 HAL_PIXEL_FORMAT_BLOB
240 x 320 HAL_PIXEL_FORMAT_YCbCr_420_888
240 x 320 HAL_PIXEL_FORMAT_BLOB
176 x 144 HAL_PIXEL_FORMAT_YCbCr_420_888
176 x 144 HAL_PIXEL_FORMAT_BLOB
1280 x 800 HAL_PIXEL_FORMAT_RAW10
1280 x 800 HAL_PIXEL_FORMAT_RAW12
1280 x 800 HAL_PIXEL_FORMAT_RAW16
1280 x 800 HAL_PIXEL_FORMAT_RAW_OPAQUE
ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
min = 54
max = 1596
ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
1596
ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
min = 0ns
max = 1318629735ns
====================================
Stats for camera: 1
ANDROID_SCALER_AVAILABLE_RAW_SIZES:
These are likely supported by the sensor
240 x 1629
ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
These are NOT necessarily supported by the sensor
240 x 320 HAL_PIXEL_FORMAT_YCbCr_420_888
240 x 320 HAL_PIXEL_FORMAT_BLOB
176 x 144 HAL_PIXEL_FORMAT_YCbCr_420_888
176 x 144 HAL_PIXEL_FORMAT_BLOB
240 x 1629 HAL_PIXEL_FORMAT_RAW10
240 x 1629 HAL_PIXEL_FORMAT_RAW12
240 x 1629 HAL_PIXEL_FORMAT_RAW16
240 x 1629 HAL_PIXEL_FORMAT_RAW_OPAQUE
ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
min = 54
max = 0
ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
0
ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
min = 0ns
max = 0ns
====================================
Number of cameras detected: 2
====================================
voxl2:~$ voxl-version | grep mach
mach.var: 1.0.1
voxl2:~$
I have TOF, tracking and Hires connected to the board it worked fine as soon as connected for first time than I can see no response from Hires but Tracking and TOF are working properly.
I'm using a VOXL 2 flight controller with an M0173 Starling 2 Front End. The setup includes tracking camera, PMD TOF and a high-resolution (hires) IMX412 camera. While the tracking cameras and TOF are detected and functioning, I'm unable to get any response from the hires camera.
I have tried reconnnecting camera again and reinstalled SDK. and downgraded to SDK 1.4.0.
when I connected them first it worked properly and I havr disconnected the cable and connected again , it is not showing at all. I have checked reconnecting the cable properly multiple times. I even tried swapping Tracking cable to Hires but no use.
Error I have got from voxl-camera-server
fsync_en: 1
fsync_gpio: 109
=================================================================
thread is locked to cores: 4 5 6 7
connected to mavlink pipe
Connected to cpu-monitor
Starting Camera: tracking_front (id #0)
gbm_create_device(156): Info: backend name is: msm_drm
MISP Initializing!!!
Detected 1 platform(s)
Detected 1 GPU device(s)
Starting Camera: hires (id #1)
ERROR: Camera 1 failed to find supported stream config: 1024x768
WARNING: Failed to start cam hires due to invalid resolution
WARNING: assuming cam is missing and trying to compensate
Starting Camera: tof (originally id #2) with id offset: 1
Starting Camera: tracking_down (originally id #3) with id offset: 1
WARNING: cam tracking_down (id 2) does not seem to be alive
------ voxl-camera-server: Started 2 of 4 cameras
------ voxl-camera-server: Camera server is now running
please suggest me any fixes for this.
My SKU is :
family code: MCCA-M0054 (voxl2-board-only)
compute board: 4 (voxl2)
hw version: 1
cam config: 26
modem config: ()
tx config: ()
extras config: ()
SKU: MCCA-M0054-C26-T0-M0-X0
this is my voxl-camera-server.config file
cat /etc/modalai/voxl-camera-server.conf
/**
* voxl-camera-server Configuration File
*
* Each camera has configurations for up to 4 HAL3 streams:
* - `preview` stream for raw unprocessed images from CV cameras
* - `small_video` 720p (ish) h264/h265 compressed for fpv video streaming
* - `large_video` 4k (ish) h264/h265 for onboard video recording to disk
* - `snapshot` ISP-processed JPG snapshots that get saved to disk
*
* on QRB5165 platforms (VOXL2 and VOXL2 mini) you can only have 3 of the 4 enabled
*
* This file is generated from default values by voxl-configure-cameras.
* Do not expect arbitrary resolutions to work, the ISP and video compression
* pipelines only support very specific resolutions.
*
* The default video compression mode is cqp or Constant Quantization Parameter
*
*
*
*/
{
"version": 0.1,
"fsync_en": true,
"fsync_gpio": 109,
"cameras": [{
"type": "ar0144",
"name": "tracking_front",
"enabled": true,
"camera_id": 0,
"fps": 30,
"en_rotate": true,
"en_preview": true,
"preview_width": 1280,
"preview_height": 800,
"en_raw_preview": true,
"en_misp": true,
"misp_width": 1280,
"misp_height": 800,
"misp_venc_enable": false,
"misp_venc_mode": "h264",
"misp_venc_br_ctrl": "cqp",
"misp_venc_Qfixed": 30,
"misp_venc_Qmin": 15,
"misp_venc_Qmax": 50,
"misp_venc_nPframes": 29,
"misp_venc_mbps": 2,
"misp_venc_osd": false,
"misp_awb": "auto",
"ae_mode": "lme_msv",
"gain_min": 54,
"gain_max": 8000,
"ae_desired_msv": 60,
"exposure_min_us": 20,
"exposure_max_us": 12000,
"exposure_soft_min_us": 5000,
"ae_filter_alpha": 0.600000023841858,
"ae_ignore_fraction": 0.20000000298023224,
"ae_slope": 0.05000000074505806,
"ae_exposure_period": 1,
"ae_gain_period": 1
}, {
"type": "imx412",
"name": "hires",
"enabled": true,
"camera_id": 1,
"fps": 30,
"en_preview": false,
"preview_width": 640,
"preview_height": 480,
"en_raw_preview": false,
"en_small_video": true,
"small_video_width": 1024,
"small_video_height": 768,
"small_venc_mode": "h264",
"small_venc_br_ctrl": "cqp",
"small_venc_Qfixed": 30,
"small_venc_Qmin": 15,
"small_venc_Qmax": 40,
"small_venc_nPframes": 9,
"small_venc_mbps": 2,
"small_venc_osd": false,
"en_large_video": true,
"large_video_width": 4056,
"large_video_height": 3040,
"large_venc_mode": "h264",
"large_venc_br_ctrl": "cqp",
"large_venc_Qfixed": 40,
"large_venc_Qmin": 15,
"large_venc_Qmax": 50,
"large_venc_nPframes": 29,
"large_venc_mbps": 40,
"large_venc_osd": false,
"en_snapshot": true,
"en_snapshot_width": 4056,
"en_snapshot_height": 3040,
"exif_focal_length": 3.0999999046325684,
"exif_focal_length_in_35mm_format": 17,
"exif_fnumber": 1.2400000095367432,
"ae_mode": "isp",
"gain_min": 54,
"gain_max": 8000
}, {
"type": "pmd-tof-liow2",
"name": "tof",
"enabled": true,
"camera_id": 2,
"fps": 10,
"en_rotate": true,
"ae_mode": "off",
"gain_min": 0,
"gain_max": 0,
"exposure_max_us": 6000,
"standby_enabled": false,
"decimator": 5
}, {
"type": "ar0144",
"name": "tracking_down",
"enabled": true,
"camera_id": 3,
"fps": 30,
"en_rotate": false,
"en_preview": true,
"preview_width": 1280,
"preview_height": 800,
"en_raw_preview": true,
"en_misp": true,
"misp_width": 1280,
"misp_height": 800,
"misp_venc_enable": false,
"misp_venc_mode": "h264",
"misp_venc_br_ctrl": "cqp",
"misp_venc_Qfixed": 30,
"misp_venc_Qmin": 15,
"misp_venc_Qmax": 50,
"misp_venc_nPframes": 29,
"misp_venc_mbps": 2,
"misp_venc_osd": false,
"misp_awb": "auto",
"ae_mode": "lme_msv",
"gain_min": 54,
"gain_max": 8000,
"ae_desired_msv": 60,
"exposure_min_us": 20,
"exposure_max_us": 12000,
"exposure_soft_min_us": 5000,
"ae_filter_alpha": 0.600000023841858,
"ae_ignore_fraction": 0.20000000298023224,
"ae_slope": 0.05000000074505806,
"ae_exposure_period": 1,
"ae_gain_period": 1
}]
}
@Beniamino-Pozzan Thank you so much for the info,
I wanted to try it and realised foxy has no support and with Ubuntu 18.04 on voxl-2 it is not possible to use any other ROS-2 installations easily. I will use ros2 plugin by keeping microdds as default middleware.
I hope newer ROS versions will be available for VOXL-2.
Hi I'm trying to use zenoh as middleware in my voxl-2 I can see it defaults to microdds. is there any support for zenoh by voxl-services.
I'm not able to build it from source for foxy. any suggestions on this?
thank you.
@Vinny Thank you so much for the info. I already have tracking and IMX412 cameras. I want to just buy Board. I have a small query, do I need any extra cables or connectors to connect this frontend camera connecter to VOXL 2 or does it come with the board when I order just the board only?
Thank you.
Thank you for the reply @Alex-Kushleyev, This is the cam Configuration I have got. 
.
Thanks for help once again.
Re: Performance VOXL Mini 4-in-1 ESC
Hi, I would like to know what the performance of the VOXL 4-in-1 ESC MDK-M0134-1-01 would be, if I use a 5 inch propellers with EMAX ECO II Series 2207 2400 KV motors. I belive the total velocity would be 12–15A at full throttle for each motor or it might go up even higher and I have a 3s battery for my setup.
thank you.
Hi, I have recently purchased a TOf camera for mapping, I have tried to connect it with my voxl-2, I belive I'm missing somehting. I have interposers MDK-M0076-1-00, and a dual camera adapter MSU-M0084-1-01.
I couldn't figure out what I missed for this, please any suggestions?
Thank you,
Best.
@Eric-Katzfey Thank you for the suggestion. but I have some constraints to use a prebuilt drone I have to build a custom one. so as you suggested I can use just a 12-pin adapter. I'm not intending to use any GPS or GNSS module.
do you think that works?
thank you.
@Eric-Katzfey My apologies I'm really new to drones. I don't know which firmware that I should use for the connector. I already have a TBS crossfire RC with me which I used with voxl-flight. so I thought it would be easy for me to use it with the UART expansion port.
can you please suggest me what will be the best approach. which connector can I use to connect this to J19 port.
thanks.
I have a tbs crossfire receiver. I want to know can I connect this with the j3 UART-usb3.0 expansion board as it has support for UART7.
thanks in advance.
