Hi @voxl-phoenix
Yes, that M0177 flex you have plugs direct into the M0173 board 40-pin connector here: 2a2a4f8f-6b90-4ea5-937e-d0b0426ccf36-image.png
Please pay attention to the "+" and "-" notes in silkscreen for proper orientation.

Hope this helps!
Thanks!

@Gary-Holmgren ,

The esc driver in px4 receives data from a “mixer” module. There are different mixers for different vehicle types. It is possible that the mixer for your UGV vehicle type is not compiled for or not running on voxl2.

Px4 support of these vehicle types is supposedly experimental, so additional investigation may be required on your end :). We have not tried the ground vehicle mixer.

Alex

@tom Thanks!

@Gary-Holmgren Great to hear, new SDK release with that fix coming soon

Hi @Gary-Holmgren,

We tested this functionality but due to insufficient demand, we did not mainline it, because it would require parameter change and could cause confusion.

https://github.com/modalai/px4-firmware/commit/abd04fafa746af512960a1de2386d5d7f6cb512a

However, you should be able to cherry pick this commit into latest px4-firmware from voxl-dev branch or whatever you are using now.

No need to modify M0065 because the interface between VOXL2 and M0065 does not specify the limits - M0065 just creates the pulse of the specific length that VOXL2 requests and M0065 does not care about the limits, so all the logic is done in VOXL2 / PX4.

After this change, the voxl2_io driver will look for the following px4 params, which have standard convention / naming. Defaults will be used if not specified.
(for x=1:8)

VOXL2_IO_FUNCx VOXL2_IO_MINx VOXL2_IO_MAXx VOXL2_IO_DISx VOXL2_IO_FAILx

Alex

@Gary-Holmgren I managed to finally get it working after flashing a few times with the web portal when the receiver and transmitter were in WiFi mode. It helped to connect instantaneously after flashing when making a binding phrase on both the receiver and transmitter.

Hello @Janelletran ,

Please reach out to https://www.modalai.com/pages/contact-us since the specific project details may need to be discussed directly via email.

Alex Kushleyev

@Alex-Kushleyev Thank you, appreciate it!

@Eric-Katzfey Ahh that makes more sense, thankyou for explaining!

@modaltb As far as I can tell, I'm building a perf kernel. These are my changes:

MODAL_REPO_BRANCH=v1.8.02 in bin/qrb5165-common.sh

I've added the following lines to ./lu.um.1.2.1/apps_proc/poky/meta-voxl2-bsp/recipes-kernel/linux-msm/files/fragments/m005x.cfg:

CONFIG_MACVLAN=y CONFIG_VLAN_8021Q=y

And then building:

./qrb5165-build.sh -m M0054

@Moderator said in Retrieving Apriltag offset from MAV local frame offset:

We love incorporating merge requests if you do end up with something useful!

Reply

I've made a quick fix here for anyone looking for it, ill try to make a merge request/real fix for it soon

https://github.com/Joe1Ontiveros/ApriltagPublisher_Starling

@Viktor-Gal I am troubling localization with QVIO. So I wanted to change vio algorithm to OpenVINS. I flashed my drone to nightly version but openvins still very unstable. Could you give me some guidance for openvins?

Questions

openvins configuration & versions Did you enable the voxl-feature-tracker? camera settings (single or multi, camera model, etc)

My status

voxl-suite: 1.4.1-202502132201 Camera: old-version of tracking camera (640x480) - link voxl-open-vins-server: 0.3.0-202502061726 voxl-feature-tracker: 0.5.2-202412171357

@Jeremy-Frederick Thanks for reverting. In your setup do you have the Radio directly paired or connected with ground unit of the MH carrier without having to any other workarounds?

@valvarez Sorry about that, but looks like that ghst_rc driver is specific to the DSP and cannot be used on the apps processor right now. I'm afraid the current build cannot support what you are looking to do without some changes. Probably best for you to put the receiver in SBUS mode and connect to the IO board.

@JoeAR_21 voxl-vision-hub handles VOA, not voxl-dfs-server

You can see the tof callback function in voa_manager here: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-vision-hub/-/blob/master/src/voa_manager.c?ref_type=heads#L380

@Eric-Katzfey

Thanks for answering! I have managed to solved this problem by using proper MOCAP data instead of GPS.

I did not test in the QGC. But for mavros I succesfully armed the drone, which is what I really want for doing more control.

I wonder if there is any tutorial or documentation for doing low-level control, such as to do control specifically on motors, PWM, instead of using PX4 to do high-level control.

Thanks for your help again!