Posts made by wilkinsaf

Hello,

Was wondering if there are any plans to integrate the IMX 327 Ultra low light.

Thanks!

@Judoor-0 Gotcha. Let me know if this doesnt answer your question.

you can use voxl mpa to ros2: https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-to-ros2
and this will allow you to access camera frame information

and video: https://www.youtube.com/watch?v=ysvpJdXFWaM

@Judoor-0

I do not have an suggestions for implementing this directly on voxl2. as mentioned the voxl-opencv might conflict with standard opencv. I have also seen other packages conflict and python versions conflict depending on the ROS version you are using.
Far easier and cleaner to use a docker image, and creates less headache in the long run.

when you say data for cameras, what do you mean? I do not believe Modal has a DIRECT model of the drone in RViz or Gazebo. But you can follow this guide to get HITL working in Gazebo with the voxl2 hardware: https://docs.modalai.com/voxl2-PX4-hitl/

For interfacing with docker, that is more about learning how docker works. you can start a container, attach to it, execute commands.
For interfacing with more voxl things (MPA pipelines, network connections) you will want to share volumes of what you want to have access to (-v /run/mpa:/run/mpa -v /usr/bin/voxl-list-pipes:/usr/bin/voxl-list-pipes) and give the container priviledged and host network --privileged --net=host. This information should be contained in the walkthrough I posted above.

To give you context as well, we usually run ROS on a docker image when running it on voxl.
Does this answer your question?

@Judoor-0

1. When you say voxl libraries do you mean the VOXL SDK? Probably not as ROS depends on specific packages to work together
2. There is a decent walkthrough here: https://docs.modalai.com/docker-on-voxl/#voxl-2. At the end of the day you can pull in a docker image that has ROS pre-installed here: https://hub.docker.com/_/ros. Noetic is included in that. You can either pull it down straight on your voxl if there is an internet connection, or (takes longer) pull it down on your local PC using docker, save it to a tar file, adb push it to your voxl, and load it up using docker on your voxl.

@James-Strawson This is perfect! Thank you James!

@Moderator Indoor

If I wanted to get 360 degree obstacle avoidance. What is the recommended path to do so?

front and back stereo depth? two TOF? outside sensor?

Shot in the dark. Would it be possible for one of the USB Fastboot addon boards (connected to voxl2 cause the USB on another advice to get fried?

I have had the USB on 3 doodles just stop working. All of them were connected to a voxl2. I am unsure why this keeps happening. I am just trying to narrow this down. THank you

maybe voxl-replay....

I logged some data on voxl-logger in binary (with the -w flag on SDK 1.2)
Is there a way for me to access that data into plain text, or am I SOL.

Thanks!

Ok, Here is how I solved it.

1. Installed old firmware: ./voxl-esc-upload-firmware.py --firmware-baud-rate 57600 -f firmware/old/modalai_esc_firmware_m0117_1_v0_36_f75f1fdb.bin --id 0
2. Installed newer firmware: ./voxl-esc-upload-firmware.py --firmware-baud-rate 250000 -f firmware/modalai_esc_firmware_m0117_1_v0_39_RC10_eb6fb500.bin --id 0

I was loading a custom SDK on this vehicle so I am theorizing that there is somehting custom/funky going on with voxl-esc

When I try and update the parameters I get

voxl2:/usr/share/modalai/voxl-esc-tools$ ./voxl-esc-upload-params.py --params-file ../voxl-esc-params/D0012_Starling_MAX/esc_params_m0129_f2203_5_1500kv_7x3.7x3.xml 
Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00) 
[GCC 8.4.0]
dpkg-query: no packages found matching voxl-esc-board-detect.py
dpkg-query: no packages found matching voxl-esc-calibrate.py
dpkg-query: no packages found matching voxl-esc-led.py
dpkg-query: no packages found matching voxl-esc-neopixel-test.py
dpkg-query: no packages found matching voxl-esc-scan.py
dpkg-query: no packages found matching voxl-esc-spin-helper.sh
dpkg-query: no packages found matching voxl-esc-spin-sine.py
dpkg-query: no packages found matching voxl-esc-spin-step.py
dpkg-query: no packages found matching voxl-esc-spin.py
dpkg-query: no packages found matching voxl-esc-tools-bin
dpkg-query: no packages found matching voxl-esc-upload-firmware-all.sh
dpkg-query: no packages found matching voxl-esc-upload-firmware.py
dpkg-query: no packages found matching voxl-esc-upload-params.py
dpkg-query: no packages found matching voxl-esc-verify-params.py
dpkg-query: no packages found matching voxl_esc_setup_paths.py
dpkg-query: no packages found matching voxl_serial.py
Found voxl-esc tools bin version: 1.6

INFO: Params file name : ../voxl-esc-params/D0012_Starling_MAX/esc_params_m0129_f2203_5_1500kv_7x3.7x3.xml 
INFO: Params file size : 7507 bytes


VOXL Platform: M0054
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
Sending initialization request
INFO: ESC(s) detected on port: /dev/slpi-uart-2, baud rate: 2000000
INFO: ESCs detected:
INFO: ---------------------
ID: 1, SW: 39, HW: 34: ModalAi 4-in-1 ESC (M0117-1)
ID: 2, SW: 39, HW: 34: ModalAi 4-in-1 ESC (M0117-1)
---------------------
INFO: Loading XML config file...
INFO: Uploading params for ESC ID 255...
-- board config
-- id config
-- uart config
-- tune config
    DONE
INFO: Resetting ESCs...
    DONE
VOXL Platform: M0054
Detected RB5 Flight, VOXL2 M0054 or M0104!
INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 250000
INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400
Updated baud rate to 230400
ERROR: No ESC(s) detected
VOXL Platform: M0054
Detected RB5 Flight, VOXL2 M0054 or M0104!
INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 921600
INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400
Updated baud rate to 230400
ERROR: No ESC(s) detected
VOXL Platform: M0054
Detected RB5 Flight, VOXL2 M0054 or M0104!
INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 230400
INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400
Updated baud rate to 230400
ERROR: No ESC(s) detected
VOXL Platform: M0054
Detected RB5 Flight, VOXL2 M0054 or M0104!
INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 57600
INFO: ESC(s) detected on port: /dev/slpi-uart-2, baud rate: 57600
INFO: ESCs detected:
INFO: ---------------------
ID: 0, SW: 39, HW: 34: ModalAi 4-in-1 ESC (M0117-1)
ID: 3, SW: 36, HW: 34: ModalAi 4-in-1 ESC (M0117-1)
---------------------
ERROR: ESC firmware version 36 is incompatible with params supported by this utility
       Acceptable ESC firmware versions are:  [38, 39]

I have tried a parameter set in the "old" parameter folder with similar results

@Alex-Kushleyev

Yes, whenever I try to have the auto-update for the firmware I get this

VOXL Platform: M0054
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
Sending initialization request
INFO: ESC(s) detected on port: /dev/slpi-uart-2, baud rate: 2000000
INFO: ESC(s) detected: [1, 2]
WARNING: Specified ESC ID not detected; perform manual power cycle now
Updated baud rate to 230400
INFO: Installing firmware to ESC ID 0 : /usr/share/modalai/voxl-esc-tools/firmware/modalai_esc_firmware_m0117_1_v0_39_RC10_eb6fb500.bin

ERROR: An error occured during the write process.

I am getting a "NACK Received" when I am trying to update the firmware on my voxl esc. I get to about 4% and then I get this error
Here is a video explaining it in closer detail
https://www.loom.com/share/f016b3a706a242c2a2235107f2faabb0

I found this by running

./voxl-esc-scan.py

or

voxl-esc and selecting detect...or scan I can not remember

I would like to note the updated path for the ESC is /dev/slpi-uart-2

That is how I got this to work for me

Here: /usr/share/modalai/voxl-esc-tools/

I was having an issue where my ESC was not connecting. It was being detected by voxl-esc scan, but i could not move the motors in QGC.

REsolved this by running voxl-esc upload_params

After I updated the firmware on the ESCs, it appears I needed to upload new parameters. That or it never came with those on.
After that I set baud to 2000000, and got the motors spinning in QGC

Thanks