Posts made by yardy

@Alex-Kushleyev We found out that we didnt take into account the phase difference when comparing angular rate to angle. Thanks and sorry for the confusion.

Hi @Alex-Kushleyev,

The results I shared earlier are based on the difference between the internal header timestamps of both sensors.

Also, we measured a delay of approximately 50 ms between the internal header timestamp and the ROS message timestamp for the camera, and about 30 ms for the IMU.

@Alex-Kushleyev
Thanks for replying.

temporal alignment between the IMU signal and the camera motion, extracted using a calibration target. The IMU and the camera were rigidly attached and moved together as a single unit during the test.

B.R

I'm currently working on a setup involving the VOXL 2 platform, and I'm observing some unexpectedly large delays between sensor measurements when using the MPA-to-ROS interface.

Specifically, I'm seeing:
350 ms delay between the onboard VOXL 2 IMU readings and the TOF M0178 data.
170 ms delay between the IMU and the IR camera M0166 data.

Is there any known filtering, buffering, or image preprocessing occurring on the TOF M0178 or IR camera M0166 streams that might account for the latency?

What else can cause such latency on my setup?
Thanks in advance,

@Alex-Kushleyev
Thanks for replying

When using M0172, the adapter acts similar to M0135 dual sensor expander, so you would need to switch to kernel variant 1.0.0. You can select the kernel variant when you install the SDK but there is also a way to just install the kernel variant directly (let me know if you need more info).

yes please

Hi All,

I'm currently working with the VOXL2 and trying to use the M0172 camera add-on board to connect two image sensors:

M0166 (Tracking camera)

M0178 (PMD camera)

I'm running VOXL SDK 1.4.5, and I'm encountering an issue where neither camera is detected or functioning.

Since there is no explicit configuration option for the M0172 in voxl-configure-cameras, I attempted to configure the system as if I were using the M0173, which seemed closest in terms of setup.

However, this approach doesn’t seem to work — no camera streams are active, and voxl-inspect-cam shows no data from either camera.

Here are some additional details:

The M0172 board is securely connected to VOXL2's J7 or J6 port.

Both cameras are connected correctly to their respective connectors on the M0172.

I’ve rebooted the system after configuration.

Both cameras work when connected to M0173, so they are not faulty.



Is M0172 supported in SDK 1.4.5?

If not, is there a recommended workaround or manual config file approach to get this setup working?

Any advice would be greatly appreciated.

Thanks!

@Alex-Kushleyev

Hi @yardy
Are you using the jumper blocks J14.15/J14.17 to JP1.10/JP1.12 respectively for QUP_19?

It was connected to JP1.9/JP1.11 (because of the jumpers... I was wrong)

It's working!

Many thanks

@Vinny
yes I am.

@Alex-Kushleyev , Thanks for the response!

VOXL 2 mounted on the VOXL 2 Developer Test Board.
CP2102 USB-to-UART dongle connected to my PC.
For QUP19 (ttyHS2):

GPIO_2 (TX) connected to RX on CP2102 via JP1 (for level shifter) and J9
GPIO_3 (RX) connected to TX on CP2102 via JP1 (for level shifter) and J9
GND to GND

on the voxl2:

stty -F /dev/ttyHS2 115200
cat /dev/ttyHS2

echo "Hello from VOXL2 HS2" > /dev/ttyHS2

on my PC:
OS: Ubuntu 22.04

screen /dev/ttyUSB0 115200

When I send text from the PC side, I expect it to appear in the cat output on VOXL2, and vice versa.

with /dev/ttyHS1 it works.

@Alex-Kushleyev

thanks for replying.
I'm using the dev test board but couldn't establish the comm

any ideas?

B.R

Hi everyone

I'm working on a VOXL 2, M0054 , voxl2_SDK_1.4.1

I’ve successfully used /dev/ttyHS1 (QUP7) via J3, but I’m currently trying to enable and use:

/dev/ttyHS2 → QUP19 (GPIO 2 and 3, J5 pins 48 and 49)

/dev/ttyHS3 → QUP13 (GPIO 38 and 39, J5 pins 97 and 98)

These devices show up in /dev, but the corresponding pins remain unclaimed in the pinctrl debug output:

cat /sys/kernel/debug/pinctrl/*/pinmux-pins | grep -E 'GPIO_2|GPIO_3|GPIO_38|GPIO_39'

pin 2 (GPIO_2): 894000.qcom,qup_uart (GPIO UNCLAIMED) function qup19 group gpio2  
pin 3 (GPIO_3): 894000.qcom,qup_uart (GPIO UNCLAIMED) function qup19 group gpio3  
pin 38 (GPIO_38): a94000.qcom,qup_uart (GPIO UNCLAIMED) function qup13 group gpio38  
pin 39 (GPIO_39): a94000.qcom,qup_uart (GPIO UNCLAIMED) function qup13 group gpio39 

How can I claim it to UART?

Many Thanks!