ModalAI Forum

I get this error: "[muorb] [ekf2] resetQuatStateYaw called:"

I know that this is expected behavior as the UAV stops listening to the compass and uses GPS for heading. My question is to the background of this, as I would LIKE to use the compass.

1. Was this done as the power consumption from the motors messes up the heading of the UAV
2. If the answer to #1 was yes, I am curious if we could do a compass power compensation: https://docs.px4.io/main/en/advanced_config/compass_power_compensation, or if this was already tried and didnt work
3. If we can not listen to the compass at all, I am wondering if there is a recommended way to disable the compass prearm check so that when we land in position mode, and go to takeoff again, the pre-arm checks dont yell at us that our compass is missing. - I know we can program something ourselves, but want to see if there is a recommended way that you guys have looked into. Just dont want to duplicate work.

Any advice would be much welcomed, and thank you for your assistance!

Some logs as well with high rate logging turned on:
https://review.px4.io/plot_app?log=ea8fad6d-1e00-4441-a70b-2726c6e8501b
https://review.px4.io/plot_app?log=fc2f0d95-0ef7-434d-88b2-1b1d8e0243d5

Update fix

Replace defaults.parm with upstream version: https://github.com/ArduPilot/ardupilot/blob/ee1e4bbf74061760826b17464383d63c1a11924c/Tools/Frame_params/ModalAI/Starling2Max.parm
Rename Starling2Max.parm to defaults.parm in /data/APM
Edit SERIAL3_BAUD=9 (in defaults.parm)
Edit GPS1_TYPE=2 (in defaults.parm)
Remove *.stg files in /data/APM
Reboot and power off the voxl2 multiple times, checking the gps driver

@wilkinsaf

I did the following and was able to get it

1. installed arducopter 4.7
2. disabled serial2_option for mavlink forward
3. configured compass
4. configured acceleromter
5. turned off GPS_AUTO_CONFIG
6. set SERIAL3_BAUD to 115200

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We are seeing some oddness when it comes to running Ardupilot on the Starling 2 Max.

We are unable to get really any GPS satellites, and the driver seems to be acting a bit weird.

1. We are able to get this working fine on PX4 - we run this pretty consistently. So, doesn't point to wiring

2. We tried Arducopter 4.6.3, 4.7, and 4.8 - we had the best luck on 4.7. But, even on that version weird things happen - like GPS_RAW_INT showing up with a lat and lon, but showing no visible satellite:

3. when indoors, only v_acc is updating...which feels odd: https://www.loom.com/share/3379c1aafcd74c95aa65e7f3af09a488

Any thoughts / ideas on where to look would be super. Thanks!

@Matt69

1. A UBEC was used for the servo connections, and they SHOULD NOT be powered from the board. We will update that drawing, thank you for pointing that out

2. As this was a first time build we did create that custom cable to deliver power to the airspeed sensor. We will make a note for that in the layout

Appreciate you pointing these things out so we can make those adjustments!

If anyone has run into this again,

ensure you update your /etc/modalai/voxl-tag-detector.conf to the tracking camera pipe you would like to do the april tag detection on.

the "tracking" has gotten update to "tracking_down" or "tracking_front"

@tom Thank you @tom

I have created some software that runs on the voxl.

I used the VOXL-CROSS template here: https://gitlab.com/voxl-public/voxl-sdk/voxl-cross-template

for all of my projects.

Now, I would like to have a CICD run that pulls them down and wraps them in my own SDK if you will.

I was curious if there is a recommended way to do this. I understand VOXL-SDK is built with CICD in mind. Is there a template I can use to do the same.

@tom

Choose Option 1 if you DO NOT have the camera board attached

Choose Option 2 if you are using the camera board

Which one should I pick????

----  Starting System Image Flash ----
----./flash-system-image.sh  ----
Detected OS: Linux
Detected: M0054-1 (QRB5165M)
Detected: Config 0 (Starling, Sentinel, FPV V3/4, D0010, PX4 Dev Kit)

=======================================================================================================
In order to support all of VOXL's camera configurations, specific drones require differing kernel images.
Please select your drone hardware to proceed with flashing the appropriate kernel image.
=======================================================================================================

PLEASE SELECT WHICH KERNEL TO FLASH
0. M0054-1 -> QRB5165M, Starling (D0005), Sentinel (D0006), FPV V4 (D0008), D0010, PX4 Dev Kit (D0011)
1. M0054-1 -> QRB5165M w/ M0173 Camera Breakout Board, Starling 2 Max (D0012), Starling 2 (D0014), FPV V5 (D0008)

Select your choice from the options above
or press [Enter] to continue with current config: 

We are getting an error when writing configs to disk.

I assumed that it was an issue with writing data to a partition in memory that was not allowing a write at that time.

We are able to resolve it by power cycling, but while in production, it becomes a hang up when putting units together.

Curious if there are commands (ex: sync) or things that we can do to get rid of this behavior. Thanks!

Was curious if voxl-fan was taken out of SDK 1.5

@wilkinsaf

1. Yes this is definitely possible
2. You would need to modify flow-server and possibly feature-tracker to ensure this is pointed at the right pipe
3. Might also need a bit of calibration here and there
4. Have not tested having multiple versions of flow-server, but should be possible.
5. Would need to ensure this works with a downard facing tof for accurate height estimate

To get a rough draft of this working, would take ~2 days

Hello,

Had a general question about flow server

1. It appears that the flow server is optimized for the lepton, but was curious what the lift would be to get it working with another camera. I see I can change the pipeline:

Wondering if there are any more "gotchas" besides changing the camera pipe and resolution

2. multi-flow: I understand that voxl-flow-server only allows for one camera stream at a time. Is there anything preventing us from spinning up multiple instances of it in order to have multiple flows running?

Thank you!

@Rocio-Lopez Not sure.

You would have to ask Gremsy about that possibly

From James (the guy who set the parameter)

feel free to increase it. Starling 2 Max has a very high power to weight ratio so I artificially calmed it down by limiting throttle

Hello,

I am looking into increasing the max thrust on starling 2 max. Currently it is set to 60%. Wanted to increase it to 100%.
I IMAGINE that it is set to 60% to ensure that the motors do not overdraw from the LION batteries, but wanted to ensure that was the case.

Something is in the works

Hello,

So, we are able to do the voxl 2 mini to hadron. Which is awesome!

However, it would be even cooler to have a converter off of the gremsy hadron gimbal in order to add the voxl2 mini's power onto a smaller camera/gimbal setup.

Here is a video that better describes what I mean

Grimsey Mount for Hadron Overview

In this video, I’m discussing the Grimsey mount for the Hadron, which connects to the microcoaxial and exposes the UART for control. I want to clarify how this mount fits directly behind the Hadron connection. I’m looking for your thoughts on this setup and any feedback you might have. Please let me know if you have any questions or need further details!

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