@tom

It was a massive lift on my end. Many changes as you can see from the pull request. Years of development

It appears this happens when the sensors are not calibrated on the drone. voxl-vision-px4 picks up on sensor inconsistency and restarts PX4.

So, calibrated the sensors. Looks better

resolved

I think these documentation pages are the same.

https://docs.modalai.com/voxl-cross/
https://docs.modalai.com/voxl-emulator/
https://docs.modalai.com/voxl-emulator/

Not huge deal, but thought I would post ticket to track

Docker container non-deterministic fail

I am trying to start a container with the following command:
docker run --rm -it --net=host cal_compass:latest

Sometimes it starts right up. Other times it gives me this error: Cannot start container 05621665b072b85b6419f904c0ffb511a1ad07a32c1ca675820aaadbefa4a316: [8] System error: write /sys/fs/cgroup/cpuset/system.slice/cpuset.cpus: invalid argument"

Any ideas what could be wrong? Thank you for any insights

@Caleb-Rievley are you loading firmware 1.12 and 1.13 on the VOXL Flight?

ModalAI comes out with their own versions of PX4. Let me dig up that URL:

https://docs.modalai.com/flight-core-firmware/

My fault. Found a small tear in the ribbon for the stereo cameras

RESOLVED

So it turns out that the post-running script for docker service relies on the image "hello-world:latest"

I had uninstalled that image to save space.

Redownloading image and trying again

@modaltb This worked for me. Removing the USBC cable, booting up, and then plugging in.

Hello,

We have a UAV we would like to fly indoors and outdoors without landing during that transition.
I know that there is support for EKF2 GPS/VIO "fusion" using 329 as the EKF2_AID_MASK in PX4
Link to tutorial

We were thinking of manually changing the EKF2 bitmask when we fly indoors or outdoors.

My question is, are there any software/features available that would more easily support switching from GPS to VIO? Want to make sure I am not redoing work before I start.

Thank you

Wanted to update this by saying I experienced same issue, but I resolved this by disconnecting tracking camera that had been installed upside down. So, if anyone is reading this in the future....try disconnecting your cameras attached to the board

Wanted to update this by saying I experienced same issue, but I resolved this by disconnecting tracking camera that had been installed upside down. So, if anyone is reading this in the future....try disconnecting your cameras attached to the board

Wanted to update this by saying I experienced same issue, but I resolved this by disconnecting tracking camera that had been installed upside down. So, if anyone is reading this in the future....try disconnecting your cameras attached to the board

Wanted to update this by saying I experienced same issue, but I resolved this by disconnecting tracking camera that had been installed upside down. So, if anyone is reading this in the future....try disconnecting your cameras attached to the board

Roger that, thank you!

Hello,

We have a UAV we would like to fly indoors and outdoors without landing during that transition.
I know that there is support for EKF2 GPS/VIO "fusion" using 329 as the EKF2_AID_MASK in PX4
Link to tutorial

We were thinking of manually changing the EKF2 bitmask when we fly indoors or outdoors.

My question is, are there any software/features available that would more easily support switching from GPS to VIO? Want to make sure I am not redoing work before I start.

Thank you

Hello, I get the following error when starting voxl-camera-server

voxl2:/$ voxl-camera-server 
------ voxl-camera-server: Starting camera server
	Started Camera: tracking
ERROR: Camera 1 failed to find supported snapshot config: 3840x2160
Encountered error starting camera: hires, exiting
	Stopped Camera: tracking

This error disappears when I change "/etc/modalai/voxl-camera-server.conf" so that the hires camera has a snapshot width X height of 640 X 480 respectively.

{
        "version":      0.1,
        "cameras":      [{
                        "name": "tracking",
                        "enabled":      true,
                        "frame_rate":   30,
                        "type": "ov7251",
                        "camera_id":    0,
                        "ae_desired_msv":       60,
                        "ae_filter_alpha":      0.600000023841858,
                        "ae_ignore_fraction":   0.20000000298023224,
                        "ae_slope":     0.05000000074505806,
                        "ae_exposure_period":   1,
                        "ae_gain_period":       1
                }, {
                        "name": "hires",
                        "enabled":      true,
                        "frame_rate":   30,
                        "type": "imx214",
                        "camera_id":    1,
                        "preview_width":        640,
                        "preview_height":       480,
                        "snapshot_width":       640,
                        "snapshot_height":      480
                }]
}

So, I thought I would check to see what possible resolutions I could stream from these cameras. I ran "voxl-camera-server -l" and see the following

oxl2:/$ voxl-camera-server -l
Note: This list comes from the HAL module and may not be indicative
	of configurations that have full pipelines

Number of cameras: 3

Stats for camera: 0:
ANDROID_SCALER_AVAILABLE_RAW_SIZES:
	640x480, 
ANDROID_SCALER_AVAILABLE_PROCESSED_SIZES:
	 640x 480, 
ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
	min = 54
	max = 431
ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
	431
ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
	min = 0ns
	max = 17942880ns

Stats for camera: 1:
ANDROID_SCALER_AVAILABLE_RAW_SIZES:
	640x480, 
ANDROID_SCALER_AVAILABLE_PROCESSED_SIZES:
	 640x 480, 
ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
	min = 54
	max = 431
ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
	431
ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
	min = 0ns
	max = 17942880ns

Stats for camera: 2:
ANDROID_SCALER_AVAILABLE_RAW_SIZES:
	640x480, 
ANDROID_SCALER_AVAILABLE_PROCESSED_SIZES:
	 640x 480, 
ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
	min = 54
	max = 431
ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
	431
ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
	min = 0ns
	max = 17942880ns

It seems like I can only stream 640 X 480 from the cameras.

I tried staging and dev releases and found the same issue. Here is my current version

voxl2:/$ voxl-version 
--------------------------------------------------------------------------------
system-image: 1.3.1-M0054-14.1a-perf
kernel:       #1 SMP PREEMPT Tue Aug 2 05:23:05 UTC 2022 4.19.125
--------------------------------------------------------------------------------
hw version:   M0054
--------------------------------------------------------------------------------
voxl-suite:   0.8.1
--------------------------------------------------------------------------------
Packages:
Repo:  http://voxl-packages.modalai.com/ qrb5165 dev
Last Updated: 2022-10-14 18:40:46
List:
	libmodal-cv              0.2.3-202209222148
	libmodal-exposure        0.0.7-202204081652
	libmodal-journal         0.2.1-202210062030
	libmodal-json            0.4.3-202209281920
	libmodal-pipe            2.6.0-202210052046
	libqrb5165-io            0.1.0-202204072150
	libvoxl-cutils           0.1.1-202210072352
	mv-voxl                  0.1-r0
	qrb5165-bind             0.1-r0
	qrb5165-dfs-server       0.1.0-202210072209
	qrb5165-imu-server       0.5.0-202210122008
	qrb5165-slpi-test-sig    01-r0
	qrb5165-system-tweaks    0.1.5-202210132034
	qrb5165-tflite           2.8.0-2-202210071637
	voxl-bind                0.0.1-202205182247
	voxl-camera-calibration  0.2.3-202209282205
	voxl-camera-server       1.1.0
	voxl-cpu-monitor         0.3.0-202210112348
	voxl-docker-support      1.2.4-202204112218
	voxl-jpeg-turbo          2.1.3-4-202210072353
	voxl-libgphoto2          0.0.4-202204111958
	voxl-libuvc              1.0.7-202210072357
	voxl-logger              0.3.4-202209082335
	voxl-mavlink             0.1.0-202207052152
	voxl-mavlink-server      0.2.0-202209022350
	voxl-modem               0.16.1-202210071715
	voxl-mongoose            7.7.0-1-202210072105
	voxl-mpa-to-ros          0.3.6-202210052049
	voxl-mpa-tools           0.7.6-202210131904
	voxl-opencv              4.5.5-1-202210072305
	voxl-portal              0.4.1-202210122031
	voxl-px4                 1.12.29-202210120000
	voxl-px4-imu-server      0.1.2-202205131833
	voxl-qvio-server         0.8.2-202209282248
	voxl-streamer            0.4.1-202210080136
	voxl-suite               0.8.1
	voxl-tag-detector        0.0.4-202206302112
	voxl-tflite-server       0.3.1-202209141826
	voxl-utils               1.2.2-202210062045
	voxl-uvc-server          0.1.2-202210121726
	voxl-vision-px4          1.4.0-202210072317
	voxl2-system-image       1.3.1-r0
	voxl2-wlan               1.0-r0
--------------------------------------------------------------------------------

Was wondering if anyone else has seen this. Thanks!

@wilkinsaf Yeah no leds or noise. Welp, I am going to send this back for hardware inspection. See if a cable is loose. Thanks again @modaltb

@modaltb Yeah no LEDs or sound. Can't arm. I don't have complete access to the wires on this UAV so it could just be a lose wire. I went to the motor data sheet but they didn't seem to run those tests. Just thought I'd ask in case you knew anything off the top of your head. Also, let me double check the px4-voxl service is not exiting early. That might be it

@modaltb This worked for me. Removing the USBC cable, booting up, and then plugging in.

@modaltb Also, we bumped our VOXL2 UAV into a desk. We had a VOXL ESC V2 connected to it. Nothing was broken after the bump, but the VOXL ESC V2 won't power on again. It was a pretty light crash. I am wondering if I had set the RPM too high and when it bumped into the desk it overloaded the ESC and it just gave out? Not sure how fragile those boards are, but they are just a circuit board. I have a feeling we did something wrong on our end.
Was just wondering if you know of anything off the top of your head