Inspect and configure

Inspect the services

If you are in your device

adb shell voxl-inspect-serviecs

If you are inside adb shell

voxl-inspect-services

This will give the idea of which services are running

Configure services

adb shell (go inside adb platform to avoid the adb shell command every time)

 voxl-configure-<pkg_name>

Configure VIO

voxl-configure-qvio

Do you want to reset the config file to factory defaults?

1. yes
2. no #?

enter 1

wiping old config file loading config file Creating new config file: /etc/modalai/voxl-qvio-server.conf

Do you want to enable the voxl-qvio-server service to allow visual inertial odometry?

1. yes
2. no #?

enter 1

Now we are going to do a preliminary configuration of /etc/modalai/voxl-qvio-server.conf

Which config voxl-qvio-server use?

imu0_tracking for VOXL Flight all-in-one board, M500 imu1_tracking for VOXL1 and VOXL-CAM, Seeker V1 imu_px4_tracking for RB5 Flight 5G imu_apps_tracking for VOXL2, Sentinel imu_apps_stereo_lower for Starling V2 stereo version

1. imu0_tracking 3) imu_px4_tracking 5) imu_apps_stereo_lower
2. imu1_tracking 4) imu_apps_tracking #?

enter 3

Configure IMU

voxl-configure-imu

Do you want to reset the config file to factory defaults?

1. yes
2. no #?

enter 1

Do you want to enable the voxl-imu-server This is required for visual inertial odometry.

1. yes
2. no #?

enter 1

refrence for IMU and VIO configuration: https://forum.modalai.com/topic/1068/error-failed-to-initialize-imu0/4

Disable voxl-imu-server since RB5 platforms works with px4-imu-server (we are using RB5 platform)

After configuring these packages go to QGC and check the data (plot data and see if they change properly when you move the drone)

Camera Calibration

camera file calibration: https://docs.modalai.com/Qualcomm-Flight-RB5-voxl-sdk-upgrade-guide/#backing-up-files and https://docs.modalai.com/calibrate-cameras/