VOXL Vision PX4 Installation

Voxl Vision PX4 and its dependencies are installed as part of the VOXL Software Suite.

Table of contents

1. Configuration Wizard
2. Configuration File
3. Next

Configuration Wizard

After installation, VOXL Vision PX4 just needs to be configured with the voxl-configure-vision-px4 script. This will also enable and start the associated systemd service. At the beginning, this script calls voxl-configure-cameras and voxl-configure-modalai-vl to configure its dependencies. It also parses the /etc/modalai/voxl-vision-px4.conf config file.

yocto:/# voxl-configure-vision-px4 -h
General Usage:
voxl-configure-vision-px4

show this help message:
voxl-configure-vision-px4 -h

The configuration wizard is ever-evolving as we add new features and new presets for different airframes. You can re-run it at any time after initial setup to set up new features or change configuration.

Configuration File

Based on your answers to the configuration wizard, an initial parameter set will be entered into the config file. From here you can further configure its settings by editing /etc/modalai/voxl-vision-px4.conf.

If you have a custom frame, and would like to use VIO, you will need to configure the extrinsic parameters yourself. Documentation here

yocto:/# cat /etc/modalai/voxl-vision-px4.conf
{
    "qgc_ip":   "192.168.8.60",
    "en_localhost_mavlink_udp": true,
    "en_secondary_qgc": false,
    "secondary_qgc_ip": "192.168.1.214",
    "offboard_mode":    "figure_eight",
    "en_vio":   true,
    "en_voa":   false,
    "en_send_vio_to_qgc":   false,
    "en_send_voa_to_qgc":   false,
    "en_adsb":  false,
    "adsb_uart_bus":    7,
    "adsb_uart_baudrate":   57600,
    "R_imu_to_body":    [[0, 1, 0], [1, 0, 0], [0, 0, -1]],
    "T_imu_wrt_body":   [0.068, -0.015, -0.008],
    "height_body_above_ground_m": 0.05,
    "T_stereo_wrt_body":    [0.10, -0.04, 0.0],
    "land_on_tag_id":   0,
    "follow_tag_id":    0,
    "en_apriltag_fixed_frame":  false,
    "fixed_apriltags":  [{
        "tag_id":   0,
        "R_tag_to_fixed":   [[0, -1, 0], [1, 0, 0], [0, 0, 1]],
        "T_tag_wrt_fixed":  [0, 0, 0]
        }],
    "en_transform_mavlink_pos_setpoints_from_fixed_frame":  true,
    "en_fixed_frame_pipe": false,
    "fixed_frame_filter_len": 5
}

Next

For for information on configuring and using voxl-vision-px4, continue reading the remaining sections of the voxl-vision-px4 manual.

Next page: Mavlink Telemetry Routing