VOXL Vision PX4 Installation

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

Table of contents

  1. Configuration Script
  2. Configuration File
  3. Next Steps

Configuration Script

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. This script also calls voxl-configure-cameras and voxl-configure-modalai-vl to configure its dependencies.

/home/root# voxl-configure-vision-px4

Which camera configuration are you using?
1 Tracking + Stereo (default)
2 Tracking Only
3 Hires + Stereo + Tracking
4 Hires + Tracking
5 TOF + Tracking
6 Hires + TOF + Tracking
7 TOF + Stereo + Tracking

1
attempting to use camera configuration 1
adding override_cam_id value=0 to /etc/snav/camera.downward.xml
adding override_cam_id value=1 to /etc/snav/camera.stereo.xml

Which physical configuration is this for?

1) voxl_tray     4) ModalAI_M500_rev1
2) voxlcam_upright_tracking_cam     5) ModalAI_mantis
3) voxlcam_upside_down_tracking_cam
#? 4

How far off the ground is the tracking camera?
This is a rough number to help VIO initialize, not critical.

1) 2.5cm_dragonfly 3) 19cm_M500_tall_legs
2) 10cm_M500_short_legs 4) not_applicable
#? 3
reloading systemd services
disabling all the snav services
Warning: snav_dronecontroller.service changed on disk. Run 'systemctl daemon-reload' to reload units.
starting imu_app
DONE configuring ModalAI Vision Lib

Now we are going to do a prelimiary configuration of /etc/modalai/voxl-vision-px4.conf
Do you want to enable stereo cameras and visual obstacle avoidance?
1) yes
2) no
#? 1
You will need need to configure the CP_DIST parameter in PX4 after voxl-vision-px4
is up and running. Press enter to continue.


Which IP address is your QGroundStation at?
just press enter to leave this option as-is
192.168.1.214
setting qgc_ip to 192.168.1.214

Do you want to enable Visual Inertial Odometry (VIO)?
1) yes
2) no
#? 1
enabling voxl-vision-px4 systemd service
starting voxl-vision-px4 systemd service
DONE configuring voxl-vision-px4

Configuration File

Based on your answers to the last three questions of the installation procedure, voxl-vision-px4’s primary three features should be set up. From here you can further configure its settings by editing the config file /etc/modalai/voxl-vision-px4.conf

{
    "qgc_ip":                   "192.168.1.214",
    "en_vio":                   true,
    "en_voa":                   false,
    "en_send_vio_to_qgc":       false,
    "en_send_voa_to_qgc":       false,
    "en_mvl_video_stream":      false,
    "en_adsb":                  false,
    "adsb_uart_bus":            7,
    "adsb_uart_baudrate":       57600,
    "en_local_telem_socket":    false,
    "local_telem_socket_port":  50075,
    "en_offboard_control":      true
}

For example, you may wish to turn on en_send_vio_to_qgc en_send_voa_to_qgc so you can debug these features through qGroundControl.

Next Steps

For for information on configuring and using voxl-vision-px4, continue to the features page.