Old Release Notes

V0.8

Requires VOXL system image 3.8+ or VOXL2/RB5F system image 1.3.1+

This VOXL Suite is BETA only for VOXL 1 since it includes camera server updates allowing improved support for most cameras but no PMD TOF functionality

* IMPROVEMENT:       apq8096 stereo cameras no longer have a high-pass filter and look much cleaner
* IMPROVEMENT:       libmodal-cv beginning to support CVP functionality on QRB5
* IMPROVEMENT:       libmodal-pipe support for setting process/thread priority
* IMPROVEMENT:       libmodal-pipe/qvio/vvpx4 updated vio struct to match latest mavlink
* IMPROVEMENT:       voxl-camera-calibration command line options for more modular use
* IMPROVEMENT:       voxl-camera-server support for ov9782 cameras
* IMPROVEMENT:       voxl-logger major efficiency rework
* NEW PACKAGE:       voxl-bind (qrb5165-only)
* RENAME PACKAGE:    qrb5165-camera-server > voxl-camera-server (now cross-platform)

Package	Version	APQ8096	QRB5165
apq8096-dfs-server	0.2.6 –> 0.3.0	✅
apq8096-imu-server	1.0.1 –> 1.0.2	✅
apq8096-libpng	1.6.38-1 (new)	✅
apq8096-rangefinder-server	0.1.0 –> 0.1.2	✅
apq8096-system-tweaks	0.1.2 (unchanged)	✅
apq8096-tflite	2.2.3-4 (unchanged)	✅
libapq8096-io	0.5.8 (unchanged)	✅
libmodal-cv	0.0.5 –> 0.1.0	✅	✅
libmodal-exposure	0.0.7 (unchanged)	✅	✅
libmodal-json	0.4.2 (unchanged)	✅	✅
libmodal-pipe	2.1.7 –> 2.4.0	✅	✅
libqrb5165-io	0.1.0 (unchanged)		✅
librc-math	1.1.8 (unchanged)	✅	✅
libvoxl-cutils	0.1.1 (unchanged)	✅	✅
mavlink-camera-manager	0.0.6 –> 0.1.0	✅
qrb5165-dfs-server	0.0.4 –> 0.0.5		✅
qrb5165-imu-server	0.2.0 –> 0.2.4		✅
qrb5165-system-tweaks	0.1.2 –> 0.1.3		✅
qrb5165-tflite	2.8.0-2 (unchanged)		✅
voxl-bind	0.0.1 (new)		✅
voxl-camera-calibration	0.1.5 –> 0.2.2	✅	✅
voxl-camera-server	1.1.0 (new)	✅	✅
voxl-ceres-solver	1.14.0-5 –> 1.14.0-7	✅	✅
voxl-cpu-monitor	0.2.5 –> 0.2.6	✅	✅
voxl-docker-support	1.2.4 (unchanged)	✅	✅
voxl-gphoto2-server	0.0.10 (unchanged)	✅
voxl-jpeg-turbo	2.1.3-4 (unchanged)	✅	✅
voxl-libgphoto2	0.0.4 (unchanged)	✅	✅
voxl-libuvc	1.0.6 (unchanged)	✅	✅
voxl-logger	0.1.2 –> 0.3.2	✅	✅
voxl-mapper	0.0.6 –> 0.0.7	✅	✅
voxl-mavlink	0.0.7 –> 0.1.0	✅	✅
voxl-mavlink-server	0.1.1 –> 0.1.3	✅	✅
voxl-modem	0.15.1 –> 0.15.2	✅	✅
voxl-mongoose	7.6.0 (unchanged)	✅	✅
voxl-mpa-tools	0.6.3 –> 0.7.2	✅	✅
voxl-mpa-to-ros	0.3.2 –> 0.3.3	✅	✅
voxl-nlopt	2.5.0-4 (unchanged)	✅	✅
voxl-opencv	4.5.5-1 (unchanged)	✅	✅
voxl-portal	0.2.6 –> 0.2.8	✅	✅
voxl-px4	1.4.16 (new)		✅
voxl-px4-imu-server	0.1.1 –> 0.1.2		✅
voxl-qvio-server	0.4.6 –> 0.7.1	✅	✅
voxl-streamer	0.3.1 –> 0.3.6	✅	✅
voxl-tag-detector	0.0.4 (unchanged)	✅	✅
voxl-tflite-server	0.2.3 –> 0.2.7	✅	✅
voxl-utils	1.1.1 –> 1.1.4	✅	✅
voxl-uvc-server	0.1.1 (unchanged)	✅	✅
voxl-vision-px4	1.0.5 –> 1.2.0	✅	✅
voxl-voxblox	1.0.3 –> 1.0.4	✅	✅
voxl-vpn	0.0.6 (unchanged)	✅

V0.7.0

Requires VOXL system image 3.8+ or VOXL2 system image 1.2.1+

This is the first SDK release with support for both VOXL (APQ8096) and VOXL2 (QRB5165). Every package has been updated with dual-platform support (where applicable) and the entire SDK is now built via CI.

Starting with V0.7.0, the new SDK repository is hosted at http://voxl-packages.modalai.com/dists/.

* RENAME PACKAGE:    voxl-camera-server > apq8096-camera-server (apq8096 only)
* RENAME PACKAGE:    voxl-imu-server > apq8096-imu-server (apq8096 only)
* RENAME PACKAGE:    libvoxl_io > libapq8096-io (apq8096 only)
* NEW PACKAGE:       qrb5165-camera-server (qrb5165-only)
* NEW PACKAGE:       qrb5165-imu-server (qrb5165-only)
* NEW PACKAGE:       qrb5165-dfs-server (qrb5165-only)
* NEW PACKAGE:       libmodal-cv
* NEW PACKAGE:       voxl-mavlink-server
* NEW PACKAGE:       voxl-px4-imu-server (qrb5165 only)
* NEW PACKAGE:       libqrb5165-io (qrb5165-only)
* NEW PACKAGE:       qrb5165-tflite (qrb5165-only)
* NEW PACKAGE:       voxl-px4 (qrb5165-only)
* IMPROVEMENT:       voxl-camera-calibration accuracy and usability
* IMPROVEMENT:       voxl-vision-px4 talks to PX4 through voxl-mavlink-server
* IMPROVEMENT:       voxl-portal: dynamic image quality, point cloud viewer
* CLEANUP:           Remove old wizard from voxl-configure-mpa
* NEW TOOL:          voxl-configure-pkg-manager

Package	Version	APQ8096	QRB5165
apq8096-camera-server	0.9.0 (new)	✅
apq8096-dfs-server	0.2.6 (new)	✅
apq8096-imu-server	1.0.1 (new)	✅
apq8096-rangefinder-server	0.1.0 (new)	✅
apq8096-system-tweaks	0.1.2 (new)	✅
apq8096-tflite	2.2.3-4 (new)	✅
libapq8096-io	0.5.8 (new)	✅
libmodal-cv	0.0.5 (new)	✅	✅
libmodal-exposure	0.0.7 (new)	✅	✅
libmodal-json	0.4.2 (new)	✅	✅
libmodal-pipe	2.1.7 (new)	✅	✅
libqrb5165-io	0.1.0 (new)		✅
librc-math	1.1.8 (new)	✅	✅
libvoxl-cutils	0.1.1 (new)	✅	✅
mavlink-camera-manager	0.0.2 –> 0.0.6	✅
qrb5165-camera-server	0.2.0 (new)		✅
qrb5165-dfs-server	0.0.4 (new)		✅
qrb5165-imu-server	0.2.0 (new)		✅
qrb5165-system-tweaks	0.1.2 (new)		✅
qrb5165-tflite	2.8.0-2 (new)		✅
voxl-camera-calibration	0.1.1 –> 0.1.5	✅	✅
voxl-ceres-solver	1.14.0-5 (new)	✅	✅
voxl-cpu-monitor	0.2.0 –> 0.2.5	✅	✅
voxl-docker-support	1.1.3 –> 1.2.4	✅	✅
voxl-gphoto2-server	0.0.10 (new)	✅
voxl-jpeg-turbo	2.1.3-4 (new)	✅	✅
voxl-libgphoto2	0.0.4 (new)	✅	✅
voxl-libuvc	1.0.6 (new)	✅	✅
voxl-logger	0.1.2 (new)	✅	✅
voxl-mapper	0.0.6 (new)	✅	✅
voxl-mavlink	0.0.2 –> 0.0.7	✅	✅
voxl-mavlink-server	0.1.1 (new)	✅	✅
voxl-modem	0.12.0 –> 0.15.1	✅	✅
voxl-mongoose	7.6.0 (new)	✅	✅
voxl-mpa-tools	0.3.6 –> 0.6.3	✅	✅
voxl-mpa-to-ros	0.3.2 (new)	✅	✅
voxl-nlopt	2.5.0-4 (new)	✅	✅
voxl-opencv	4.5.5-1 (new)	✅	✅
voxl-portal	0.1.2 –> 0.2.6	✅	✅
voxl-px4-imu-server	0.1.1 (new)		✅
voxl-qvio-server	0.3.4 –> 0.4.6	✅	✅
voxl-streamer	0.2.6 –> 0.3.1	✅	✅
voxl-tag-detector	0.0.2 –> 0.0.4	✅	✅
voxl-tflite-server	0.1.5 –> 0.2.3	✅	✅
voxl-utils	0.8.5 –> 1.1.1	✅	✅
voxl-uvc-server	0.1.1 (new)	✅	✅
voxl-vision-px4	0.9.5 –> 1.0.4	✅	✅
voxl-voxblox	1.0.3 (new)	✅	✅
voxl-vpn	0.0.3 –> 0.0.6	✅

V0.5.0

Requires VOXL system image 3.3+

* NEW TOOL:    voxl-calibrate-cameras utility
* NEW TOOL:    imu thermal calibration
* NEW TOOL:    voxl-configure-opkg
* NEW TOOL:    voxl-calibrate-px4-horizon tool
* NEW TOOL:    voxl-portal web interface
* NEW TOOL:    voxl-wait-for-fs service
* NEW TOOL:    voxl-list-pipes
* ADDITION:    libmodal_pipe pause-resume function
* ADDITION:    voxl-configure extrinsics add support for Starling
* ADDITION:    voxl-mpa-to-ROS dynamic pipe detection (no more config!!)
* IMPROVEMENT: file system syncs more frequently
* IMPROVEMENT: voxl-qvio-reset is more complete
* IMPROVEMENT: voxl-configure cameras wizard tweaks
* IMPROVEMENT: voxl-configure-mpa support new part numbers
* IMPROVEMENT: voxl-inspect-services speedup
* IMPROVEMENT: too many little tweaks and fixes to list

Package	Package Version
libjpeg_turbo	9.0.4+
libmodal_exposure	0.0.2+
libmodal_json	0.3.6+
libmodal_pipe	2.1.1+
librc_math	1.1.5+
libvoxl_cutils	0.0.2+
libvoxl_io	0.5.4+
mavlink-camera-manager	0.0.2+
mongoose	7.3.0+
opencv	4.5.2-2+
openmp	10.0.2+
voxl-camera-calibration	0.1.1+
voxl-camera-server	0.7.1+
voxl-cpu-monitor	0.2.0+
voxl-dfs-server	0.2.2+
voxl-docker-support	1.1.3+
voxl-gphoto2	0.0.5+
voxl-imu-server	0.9.1+
voxl-mavlink	0.12.0+
voxl-modem	0.0.2+
voxl-mpa-tools	0.3.6+
voxl-nodes	0.2.0+
voxl-portal	0.1.1+
voxl-qvio-server	0.3.4+
voxl-streamer	0.2.6+
voxl-tag-detector	0.0.2+
voxl-tflite	2.2.3+
voxl-tflite-server	0.1.5+
voxl-utils	0.8.4+
voxl-vision-px4	0.9.5+
voxl-vpn	0.0.3+

V0.4.6

Requires System Image 3.3+

Contains the following packages:

Package	Package Version
voxl-utils	0.7.1+
voxl-mpa-tools	0.2.6+
libmodal_exposure	0.0.2+
libmodal_json	0.3.5+
libmodal_pipe	2.0.7+
librc_math	1.1.5+
libvoxl_cutils	0.0.2+
libvoxl_io	0.5.4+
mavlink-camera-manager	0.0.2+
opencv	4.5.2-1+
openmp	10.0.2+
voxl-camera-server	0.7.1+
voxl-cpu-monitor	0.1.7+
voxl-dfs-server	0.2.0+
voxl-docker-support	1.1.3+
voxl-gphoto2	0.0.5+
voxl-imu-server	0.8.1+
voxl-modem	0.12.0+
voxl-nodes	0.1.6+
voxl-qvio-server	0.3.1+
voxl-streamer	0.2.3+
voxl-tflite(no repo)	0.0.1+
voxl-tflite-server	0.1.0+
voxl-vision-px4	0.9.2+
voxl-vpn	0.0.3+

V0.3.4

Requires System Image 3.2+

Contains the following packages:

Package	Package Version
voxl-utils	0.6.0+
libmodal_json	0.3.4+
libmodal_pipe	1.7.8+
librc_math	1.1.4+
mavlink-camera-manager	0.0.1+
opencv	4.5.1+
openmp	10.0.1+
voxl-camera-server	0.5.6+
voxl-dfs-server	0.0.7+
voxl-docker-support	1.1.1+
voxl-gphoto2	0.0.5+
voxl-hal3-tof-cam-ros	0.0.5+
voxl-imu-server	0.7.8+
voxl-modem	0.11.0+
voxl-mpa-tflite-server	0.0.2+
voxl-mpa-tools	0.1.6+
voxl-nodes	0.1.0+
voxl-qvio-server	0.2.1+
voxl-rtsp	1.0.3+
voxl-streamer	0.2.1+
voxl-vision-px4	0.8.1+
voxl-vpn	0.0.3+

V0.2.0

Changes:

Updated voxl-vision-px4, PX4 disconnect detection, better handling of ‘CRC errors’, UART port and baud configurable, keep publishing data if VIO is off, wizard improvements
Updated voxl-modem, added LTE v2 support
Updated voxl-utils, added voxl-backup util for camera calibration backup
Added new voxl-vpn package
Added new voxl-time-sync package
Removed ffmpeg as it’s normally used via Docker containers

Contains the following packages:

Package	Package Version
docker	1.9.0
imu_app	0.0.6
libmodal_pipe	1.2.2
librc_math	1.1.2
modalai-vl	0.1.3
libvoxl_io	0.5.2
voxl-cam-manager	0.2.2
voxl-docker-support	1.1.1
voxl-hal3-tof-cam-ros	0.0.2
voxl-modem	0.10.0
voxl-nodes	0.0.8
voxl-rtsp	1.0.2
voxl-time-sync	0.0.1
voxl-utils	0.5.2
voxl-vision-px4	0.6.8
voxl-vpn	0.0.2
voxl_imu	0.0.4

Tested against:

System Image 2.5.2-1.0.1
System Image 2.3.0-1.0.1

V0.1.1

Contains the following packages:

Package	Package Version (min)
docker	1.9.0
ffmpeg	4.2.2
imu_app	0.0.6
librc_math	1.1.2
libvoxl_io	0.4.1
libvoxl_pipe	1.0.1
modalai-vl	0.1.3
voxl-cam-manager	0.2.2
voxl-docker-support	1.1.1
voxl-hal3-tof-cam-ros	0.0.2
voxl-modem	0.9.3
voxl-nodes	0.0.8
voxl-rtsp	1.0.2
voxl-utils	0.5.1
voxl-vision-px4	0.6.1
voxl_imu	0.0.4

Tested against: System Image 2.3.0-1.0.1