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  Hi Rui, A few things.. there have been a few updates in SNAV (mainly to support our new ESC, nothing major). Please use the latest release in https://developer.modalai.com/asset : snav-modalai_1.4.1_8x96.ipk in order to run SNAV, you ineed to install imu_app package opkg install imu_app. This may remove some package like voxl-imu-server, since they can't run at the same time. imu_app package provides access to an older version of IMU server, which is used to pass imu data between SNAV and CPU applications (like vio, etc). you can also download the ipk from http://voxl-packages.modalai.com/stable/imu_app_0.0.6.ipk and run opkg install imu_app_0.0.6.ipk in order to install the latest snav ipk, you need to modify /etc/opkg/opkg.conf (commend out the line at the bottom src/gz stable http://voxl-packages.modalai.com/stable . If you don't do this, then the package config will override your new ipk with another package modalai-vl and pull it from the package repo. However it so happens that latest SNAV is not a part of modalai-vl package.. after you install the latest snav ipk, you can change opkg.conf back to normal. the rest of SNAV install should work the same as before.. if you don't want to use latest SNAV, you don't have to, you can just use your existing version and install the imu app and SNAV should work. Hope this helps. Alex
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  @Alex-Gardner Thanks for your supports. I realized voxl-docker s/w was updated 1 month ago. I resolved this problem using newest voxl-docker. swift@swift-HP-Pavilion-dv6-Notebook-PC:~/git$ cd voxl-dfs-server swift@swift-HP-Pavilion-dv6-Notebook-PC:~/git/voxl-dfs-server$ ls bash_completions clean.sh install_build_deps.sh make_package.sh build.sh clients install_on_voxl.sh README.md build_utils CMakeLists.txt ipk server CHANGELOG config LICENSE service swift@swift-HP-Pavilion-dv6-Notebook-PC:~/git/voxl-dfs-server$ voxl-docker -i voxl-cross launching image: voxl-cross with the following command: docker run --rm -it --net=host --privileged -w /home/swift --volume=/dev/bus/usb:/dev/bus/usb -e LOCAL_USER_ID=0 -e LOCAL_USER_NAME=root -e LOCAL_GID=0 -v /home/swift/git/voxl-dfs-server:/home/root:rw -w /home/root voxl-cross /bin/bash -l voxl-cross:~$ voxl-cross:~$ voxl-cross:~$ ./install_build_deps.sh stable using stable repository Downloading http://voxl-packages.modalai.com/stable/Packages.gz. Updated source 'stable'. Installing libmodal_pipe (2.0.7) on root. Downloading http://voxl-packages.modalai.com/stable/libmodal_pipe_2.0.7.ipk. Configuring libmodal_pipe. Done installing libmodal_pipe Installing libmodal_json (0.3.5) on root. Downloading http://voxl-packages.modalai.com/stable/libmodal_json_0.3.5.ipk. Configuring libmodal_json. Done installing libmodal_json Installing opencv (4.5.2) on root. Downloading http://voxl-packages.modalai.com/stable/opencv_4.5.2-1.ipk. Configuring opencv. done installing opencv voxl-cross:~$ ./build.sh -- The C compiler identification is GNU 5.4.0 -- The CXX compiler identification is GNU 5.4.0 -- Check for working C compiler: /usr/bin/cc -- Check for working C compiler: /usr/bin/cc -- works -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Detecting C compile features -- Detecting C compile features - done -- Check for working CXX compiler: /usr/bin/c++ -- Check for working CXX compiler: /usr/bin/c++ -- works -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Detecting CXX compile features -- Detecting CXX compile features - done -- Configuring done -- Generating done -- Build files have been written to: /home/root/build_utils/build Scanning dependencies of target embedfile [ 50%] Building C object CMakeFiles/embedfile.dir/src/embedfile.c.o [100%] Linking C executable embedfile [100%] Built target embedfile -- The C compiler identification is GNU 4.9.3 -- The CXX compiler identification is GNU 4.9.3 -- Check for working C compiler: /usr/bin/aarch64-linux-gnu-gcc-4.9 -- Check for working C compiler: /usr/bin/aarch64-linux-gnu-gcc-4.9 -- works -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Detecting C compile features -- Detecting C compile features - done -- Check for working CXX compiler: /usr/bin/aarch64-linux-gnu-g++-4.9 -- Check for working CXX compiler: /usr/bin/aarch64-linux-gnu-g++-4.9 -- works -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Detecting CXX compile features -- Detecting CXX compile features - done -- Configuring done -- Generating done -- Build files have been written to: /home/root/build64 [ 15%] Generating sobel_filter_kernel_code.c [ 15%] Generating disparity_kernel_code.c [ 15%] Generating compute_dsi_kernel_code.c [ 21%] Generating blur_kernel_code.c [ 26%] Generating sparse_census_transform_kernel_code.c Scanning dependencies of target voxl-dfs-server [ 31%] Building C object server/CMakeFiles/voxl-dfs-server.dir/undistort.c.o [ 36%] Building CXX object server/CMakeFiles/voxl-dfs-server.dir/opencl_manager.cpp.o [ 42%] Building CXX object server/CMakeFiles/voxl-dfs-server.dir/sad_disparity_estimation.cpp.o [ 47%] Building CXX object server/CMakeFiles/voxl-dfs-server.dir/box_filter_blur.cpp.o [ 52%] Building CXX object server/CMakeFiles/voxl-dfs-server.dir/dfs_processing_engine.cpp.o [ 57%] Building CXX object server/CMakeFiles/voxl-dfs-server.dir/main.cpp.o [ 63%] Building CXX object server/CMakeFiles/voxl-dfs-server.dir/opencl_kernel.cpp.o [ 68%] Building CXX object server/CMakeFiles/voxl-dfs-server.dir/sobel_filter.cpp.o [ 73%] Building C object server/CMakeFiles/voxl-dfs-server.dir/blur_kernel_code.c.o [ 78%] Building C object server/CMakeFiles/voxl-dfs-server.dir/disparity_kernel_code.c.o [ 84%] Building C object server/CMakeFiles/voxl-dfs-server.dir/compute_dsi_kernel_code.c.o [ 89%] Building C object server/CMakeFiles/voxl-dfs-server.dir/sparse_census_transform_kernel_code.c.o [ 94%] Building C object server/CMakeFiles/voxl-dfs-server.dir/sobel_filter_kernel_code.c.o [100%] Linking CXX executable voxl-dfs-server [100%] Built target voxl-dfs-server voxl-cross:~$ voxl-cross:~$ voxl-cross:~$ voxl-cross:~$ ./make_package.sh Package Name: voxl-dfs-server version Number: 0.2.0 [100%] Built target voxl-dfs-server Install the project... -- Install configuration: "Release" -- Installing: ../ipk/data/etc/systemd/system/voxl-dfs-server.service -- Installing: ../ipk/data/usr/bin/voxl-dfs-server /home/root ar: creating voxl-dfs-server_0.2.0.ipk DONE voxl-cross:~$ Here is myvoxl-docker images swift@swift-HP-Pavilion-dv6-Notebook-PC:~$ voxl-docker -l | grep "voxl" voxl-cross V1.1 77af6063e492 14 minutes ago 999MB voxl-cross latest 77af6063e492 14 minutes ago 999MB voxl-emulator V1.7 55d4f01b7bcd 7 weeks ago 3.33GB voxl-emulator latest 55d4f01b7bcd 7 weeks ago 3.33GB voxl-hexagon latest 8509f4e31f56 2 months ago 5.24GB voxl-emulator V1.5 323601eb49d7 4 months ago 3.2GB swift@swift-HP-Pavilion-dv6-Notebook-PC:~$ Thanks,
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  @Chuck-Bokath Are you using an LTE v1 or v2 modem? Are you using voxl-modem in order to connect to the network?
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  Hello Matt, thanks! This is super useful. When I try commenting out the delegate code I get Enabling debug mode ================================================================= skip_n_frames: 0 ================================================================= ================================================================= model: /usr/bin/dnn/running_shoe.tflite ================================================================= ================================================================= input_pipe: /run/mpa/tracking/ =================================================================------VOXL TFLite Server------Loaded model /usr/bin/dnn/running_shoe.tflite Resolved reporter Avoiding our problems.... !!!!!!!!!!!!!!!!!!!!!!! line 257------Setting TFLiteThread to ready!! W: 480 H: 640 C:3 ------Popping index 0 frame 21596 ...... Queue size: 1Fault address: 0x585e5c5b58595f Address not mapped. Segmentation fault Also, I am running a non-quantized TFLite model, when I ran the quantized version I was getting an error about an unsupported operation (that looked to be related to quantization) so I turned off quantization. I'll try the quantized version again and get you the output from that as well. If that doesn't work then I'll clean up the code and take you up on the offer to look over the scripts! Cheers,