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VOXL SDK

General questions regarding the VOXL SDK that do not fit into other categories

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Hi ModalAI team,

I am working on a Starling 2 / VOXL2 setup and I am stuck with an ESC communication / firmware issue. I would appreciate your guidance on whether this looks like a software mismatch, a known M0129 compatibility issue, or a hardware-side comms problem.

Hardware / platform:
VOXL2 (M0054) Starling 2 platform ESC board label: M0129 SKU shown on device:
MRB-D0014-4-V1-C27-T9-M22-X0
Current software versions:
system-image: 1.8.06-M0054-14.1a-perf voxl-suite: 1.6.3 voxl-esc package manually upgraded from 1.5.7 to 1.6.1
What I did:
Reflashed the board Restored / checked calibration as needed Verified Wi-Fi and internet access Confirmed newer voxl-esc was available in sdk-1.6 and manually installed:
dpkg -i /data/voxl-esc_1.6.1_arm64.deb Checked available firmware files under:
/usr/share/modalai/voxl-esc-tools/firmware/
Firmware files present for M0129:
modalai_esc_firmware_m0129_3_v39_25_a58f5f6f.bin modalai_esc_firmware_m0129_6_v39_25_a58f5f6f.bin
Note:
My physical ESC only says M0129 I do not see a suffix like M0129-3 or M0129-6 printed on the board I also do not see an m0129_1 firmware file in the installed firmware folder
Main issue:
voxl-esc scan does not reliably detect any ESCs voxl-esc upgrade_firmware sometimes previously said “successfully pinged ESCs” but then failed with:
[ERROR] Unknown board detected: After deeper testing, the underlying Python tools also fail to detect the ESC consistently
Direct tool results:
voxl-esc-scan.py No ESCs detected at all baud rates Sometimes reports:
ERROR: voxl_uart_read_bytes: Bus '12' is not initialized voxl-esc-board-detect.py Ends with:
ERROR: No ESC(s) detected, exiting. Debug scan:
Command used:
python3 voxl-esc-scan.py --enable-debug True --force-scan-all-baud-rates True
Observed behavior:
UART TX packets are clearly being sent No valid UART RX from ESC In one case RX was all zeros after:
ERROR: voxl_uart_read_bytes: Bus '12' is not initialized Every scan ends with:
WARNING: No ESC(s) detected
ERROR: not all ESCs found
Relevant logs:
dmesg shows SLPI restart events after reset commands, for example:
Fatal error on slpi!
... Got kill command from apps processor. /dev shows SLPI subsystem nodes, but the scan path still fails to get a valid ESC reply
Important observations:
The VOXL side appears to be transmitting on the ESC link The ESC side does not appear to respond This now looks more like a low-level comms / wiring / power / bootloader issue than just a wrapper-script issue
Questions:
Is system-image 1.8.06 with voxl-suite 1.6.3 a supported combination for Starling 2 + M0129 ESC? For an ESC labeled only “M0129”, which firmware should be used: m0129_3 m0129_6 or is there another variant / package expected? Is the missing response from the ESC more indicative of: incorrect harness / connector / pinout ESC not powered correctly damaged ESC MCU wrong firmware / bootloader state Is there a recommended low-level recovery path for M0129 when voxl-esc-scan.py cannot detect any ESCs? Are there any additional commands you want me to run to verify the ESC UART / SLPI bridge path on this platform?
Example command outputs:

system image / suite:
system-image: 1.8.06-M0054-14.1a-perf voxl-suite: 1.6.3
voxl-esc version after manual install:
1.6.1
Direct scan result:
WARNING: No ESC(s) detected ERROR: not all ESCs found
Direct board detect result:
ERROR: No ESC(s) detected, exiting.
Any help would be greatly appreciated. I can also provide full logs or photos of the ESC board/harness if needed.

Thank you.
Video and Image Sensors

General questions regarding the VOXL SDK that do not fit into other categories

35
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Hi Support Team,

[This is an inquiry regarding a UVC camera.]
We are using the voxl-mini as shown below.
hw platform: M0104 voxl-suite: 1.4.5 SKU: TF-M0104-6-V1-C6 video codec(voxl-streamer): h.264 Web camera: uvc(YUY2) format
[Inquiry]
We are using a web camera. The Device ID changes when the camera is turned back on (see figure below).
그림2.jpg
Therefore, we execute the command "systemctl restart voxl-uvc-server" every time. Please tell me how to fix the Device ID.???
Thank you.
Kim.
GPS-denied Navigation (VIO)

Questions about developing software on the products

71
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338
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@Sarika-Sharma You can get v1.0.10 here: http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/libfc-sensor_1.0.10-202602041609_arm64.deb
Modal Pipe Architecture (MPA)

Questions about developing software on the products

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249
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@Eric-Katzfey Yes that worked. Thanks!
AprilTag Relocalization

Questions about developing software on the products

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64
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@Nitin-Varma-Vegesna said in Apriltag relocalization not relocalizing?:

@Nitin-Varma-Vegesna Is there any release that is known to work for April Tag Detection?

https://gitlab.com/voxl-public/voxl-sdk/services/voxl-tag-detector

The dev branch is the most recent - I have to check with the engineering team on this as I am unsure the priority of april tag detection and positioning based off it. Will relay back
ROS

66
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@Zachary-Lowell-0

Thank you for the feedback! This was very helpful
Mapping and Planning

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@tom can anyone help me with this
Remote ID

Questions about developing software on the products

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@Mastermind That sounds like it would be possible, but obviously depends on the driver of the wlan adapter you choose. You would need to implement the bluetooth broadcast portion of Remote ID. The source code for voxl-remote-id is here and only currently supports the Wifi portion of Remote ID

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Duplicating UVC camera

• • maxwelllwang

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This is essentially the point of MPA (Modal Pipe Architecture, our interprocess communications standard). We publish FIFOs to /run/mpa with the data (standard FIFOs use the filesystem as a handle, not for actually transferring the data, the kernel will pass the data directly from process to process). voxl-uvc-server will pull the data from the camera and write it out to a pipe in /run/mpa, which can easily be mounted in a docker image and read there. You can use the libmodal_pipe(or manually request a pipe and open the FIFO, though this will be less reliable than our extensively tested library) to read it in a docker image (or images as MPA allows numerous clients).
A

Using libvoxl_io.so from Docker

• • amitga

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@Chad-Sweet
I'm trying to read some sensor data using UART/I2C, from within a Docker container.

I will look into libmodal_pipe , thanks.
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What is for "Avoidance / Collision prevention error"

• • shlee853

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@hmlow

Yes, PX4's obstacle avoidance and Collision Prevention are separate features. We only support the Collision Prevention functionality which is governed by the PX4 CP_DIST and similar parameters. Make sure the COM_OBS_AVOID parameter is OFF (0) in PX4

James
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terminate called after throwing an instance of 'std::system_error'

• • Aniket Gupta

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The emulator is meant to be a build environment and not for running code, this is likely the source of the issue, does your code encounter this problem when running on a voxl?
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Voxl-IO questions (GPIO & i2c)

• • amitmol

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We have example Python code in voxl-modem to control the B2B GPIO
## All GPIO pins need to be exported before they can be used # def gpio_export(num): subprocess.call("echo " + num + " > /sys/class/gpio/export", stderr=FNULL, shell=True) ## Each GPIO has to have its direction set prior to use # @param num pin number # @param direction 'in' or 'out' # def gpio_direction_map(num, direction): subprocess.call("echo " + direction + " > /sys/class/gpio/gpio" \ + num + "/direction", stderr=FNULL, shell=True) ## Set a value to an 'out' gpio # def set_gpio(num, value): subprocess.call("echo " + value + " > /sys/class/gpio/gpio" + num + "/value", stderr=FNULL, shell=True) ## Reads a GPIO pin # @apram pin # pin number # @return # integer value [0,1] def gpio_read_int(pin_int): gpio_file = '/sys/class/gpio/gpio' + str(pin_int) + '/value' value = subprocess.check_output(['cat', gpio_file]).strip() return int(value)
M

Low Mavros Data Rates

• • m1baldwin

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No one has replied
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Building new docker image error - Cmake version not good

• • marian

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@CY-1992 said in Building new docker image error - Cmake version not good:

ubuntu:20.04

Thanks @CY-1992 is working just fine!
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VOXL-Streamer 64bit

• • Steve Turner

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@Eric-Katzfey OK good to know. Thanks for looking into that. Is there a good email I can reach out to discuss further with you?
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voxl-wifi softap issues

• • Philemon Benner

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@Philemon-Benner This is where the voxl-wifi source code lives for VOXL1: https://gitlab.com/voxl-public/voxl-sdk/utilities/apq8096-system-tweaks/-/blob/dev/scripts/voxl-wifi

Since you've already put in effort toward the resolution you could attempt to fork this repo, make your suggested tweaks and create a merge request so that the team could take a look!

Otherwise it may take a little bit longer for the team to take a chance to look into the bug
M

Upgrading to newest voxl-camera-server from apq8096-camera-server

• • m1baldwin

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@Chad-Sweet Great, very exciting!
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voxl-modem-start.sh issue

• • Philemon Benner

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@tom Now it's working again, but might be worth a look, it's important that it always works. Parsing seems fine:
apq8096 detected... 'v2' len: 2 Initializing v2 modem... Waiting for ttyUSB2... ttyUSB2
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Issues with takeoff in offboard mode w/ MAVROS & Voxl Flight Deck

• • m1baldwin

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Would love a solution to this too, having the same problem
S

Error Response from Daemon: Cannot Start Container... write /sys/fs/cgroup/cpuset/system.slice/cpuset.cpus: invalid argument

• • SMRC

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With the updates to this page (specifically running the setup script voxl-configure-docker-support), this issue is resolved.

Thank you @Chad-Sweet for updating the page!
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Custom model deployment on voxl-tflite-server

• • Pratyaksh Rao

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You can find the code for that TensorFlow Lite build here https://gitlab.com/voxl-public/voxl-sdk/third-party/qrb5165-tflite

There are just few patches applied to get it to build correctly. You could try rebasing it to 2.11
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Access VOXL2 cameras on ROS2 within docker container

• • Jeff Delaune

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The pipes that voxl-camera-server publishes should be accessible in a Docker. You should be able to access them that way inside of a Docker. A voxl-mpa-to-ros2 service would be a good addition, we don't have that implemented yet.
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List of potentially supported cameras with voxl-sdk

• • m1baldwin

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With regards to camera server, the "types" that it takes define behavior more than actual reading of drivers. The underlying camera layer will deal with the actual querying of the sensor and using those drivers that you've posted, and the type in the camera server config file will define a few behaviors like resolutions, image format, allowable streams, etc, some of which are customizable in the config file.

The imx214 type in there is named as such because initially that was the only imx sensor that we used, and its behavior is applicable to (at the very least that we've tested) the 377 and 412 as well; and would likely work on some of the others that you've mentioned.
S

Feature Points in Qvio

• • Sri Siddarth Chakaravarthy P

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Hi, would there be any way to classify the feature points used for QVIO based on some metric so that voxl could be able to handle points that are from reflected surfaces.

I mean there could be some variable that measures the feature point as a potential point from reflection.
A

Docker daemon fails to start on voxl

• • Alex123

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switch to wifi station mode - https://docs.modalai.com/wifi-setup/
It fixed for me
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Issues with SFTP with python

• • José Quintanilla

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I believe you first need to enable SFTP functionality in ssh server on the drone, for example https://www.pcwdld.com/setup-sftp-server-on-ubuntu seems to provide instructions (i did not verify the correctness of the instructions).

A better solution, in my opinion, would be to use scp from your python client. You can copy the ssh key directly to the drone, so you don't have to enter the password in the script. Then you could call the scp command directly from Python using a system call or using Paramiko like in this example : https://stackoverflow.com/questions/250283/how-to-scp-in-python . Installing the ssh key on the drone will avoid storing plain text password on your PC.

Is there a reason why you are trying SFTP instead of SCP?
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Missing newest apq8096 and qrb5165 proprietary

• • Philemon Benner

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