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  • Note sure where to post? Ask questions here for direct access to the ModalAI engineering team

    Support Request Format for Best Results Feature Requests 3D Models
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    Gary HolmgrenG

    Hi, thank you for the input, I have attempted to reflash the SDK 1.2.0 and then reboot after configuring the voxl to option #03. I disassembled everything to ensure camera MIPIs were connected properly and in the corresponding J6 and J7 connectors where hi-res and tracking flex are indeed on J7 and the front stereo/interposer is on J6.
    voxl2:/$ ls /usr/lib/camera/sensormodule
    /usr/lib/camera/com.qti.sensormodule.imx214_3.bin
    /usr/lib/camera/com.qti.sensormodule.ov7251_2.bin
    /usr/lib/camera/com.qti.sensormodule.ov7251_combo_0.bin
    /usr/lib/camera/com.qti.sensormodule.ov7251_combo_1.bin

    voxl2:/$ voxl-camera-server -l
    an 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: 3

    DEBUG: Cam idx: 0, Cam slot: 0, Slave Address: 0x00E2, Sensor Id: 0x7750
    DEBUG: Cam idx: 1, Cam slot: 2, Slave Address: 0x00E2, Sensor Id: 0x7750
    DEBUG: Cam idx: 2, Cam slot: 3, Slave Address: 0x0020, Sensor Id: 0x0214
    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: 3

    Now fore camera config #04 with Hi-Res and Tracking immediately after these tests I will paste the same commands:

    voxl2:/$ voxl-camera-server -l
    an 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: 2, Slave Address: 0x00E2, Sensor Id: 0x7750
    DEBUG: Cam idx: 1, Cam slot: 3, Slave Address: 0x0020, Sensor Id: 0x0214
    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

    voxl2:/$ ls /usr/lib/camera/sensormodule
    /usr/lib/camera/com.qti.sensormodule.imx214_3.bin
    /usr/lib/camera/com.qti.sensormodule.ov7251_2.bin

    As per the Voxl portal, I can see both tracking and hi res working in this config 04, but in camera config 03 I can see only the Hires and stereo showing up.

  • Commonly asked questions we get from the community

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    tomT

    @Κωνσταντίνος-Κλέων-Χριστόπουλος In that case we can't help you with SSH or WiFi, that's not our hardware

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    J

    @Moderator Thanks for the response. Follow up question, are the voxl-side timesync requests only used for updating gps timestamps?

    After reading the code you linked and running mavlink-server in timesync debug mode I think that the only thing not working is the voxl timesync requests. It looks like when I start sending hil_gps or odometry mavlink messages to the autopilot pipe, one of the autopilot's responses to the voxl timesync requests is dropped or comes in after a new value for last_voxl_time_sent is generated. Then the timesync handler can't recover because it's getting responses that are 1 step behind moving forward (see below).

    Since it looks like it continues to get reasonable values for now-ts1 for the autopilot requests, I don't think this is an issue depending on what voxl-side timesync is being used for. Not sure why I'm getting the RTT too high warning in my PX4 log though

    output from mavlink server timesync debug mode at the point when I started sending odom/gps mavlink messages to the autopilot:

    sending our own ts request at 408744677609 ap ms ahead of voxl: -0.2ms timesync: now-ts1 = 0.6ms sending our own ts request at 408845331615 ap ms ahead of voxl: -0.3ms timesync: now-ts1 = 0.9ms sending our own ts request at 408945169337 timesync: now-ts1 = 0.2ms sending our own ts request at 409044439310 timesync: now-ts1 = 0.3ms sending our own ts request at **409145346227** timesync: now-ts1 = 0.5ms sending our own ts request at **409244599326** unknown timesync request ts1 = **409145346227** tc1 = 409263819000 last_voxl_time_sent = 409244599326 timesync: now-ts1 = 0.3ms sending our own ts request at 409345147918 unknown timesync request ts1 = **409244599326** tc1 = 409406867000 last_voxl_time_sent = 409345147918 timesync: now-ts1 = 0.2ms sending our own ts request at 409445248290 unknown timesync request ts1 = 409345147918 tc1 = 409506047000 last_voxl_time_sent = 409445248290 timesync: now-ts1 = 0.2ms sending our own ts request at 409545084726 unknown timesync request ts1 = 409445248290 tc1 = 409608198000 last_voxl_time_sent = 409545084726 timesync: now-ts1 = 0.4ms sending our own ts request at 409645091472 unknown timesync request ts1 = 409545084726 tc1 = 409717154000 last_voxl_time_sent = 409645091472

  • Please request review from ModalAI before building your drone or custom add-on PCB

    PCB Design Reviews System Architecture Design Reviews
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    VinnyV

    Hi @Trinadh
    Our Hardware Designs are not open source.