@holmeslice Regarding having the external flight controller, it's really only needed if the I/O limitations of VOXL 2 are a problem. For example, if you need CAN bus then you should probably use the external flight controller since VOXL 2 has no CAN bus support.

@dan64 Unsure if you have resolved this issue, but I am going to add some more information to anyone that stumbles across this. There was a bug in the voxl-mavlink-server setting and sending all System ID numbers to 1. The deb file below should solve this issue where the MAV_SYS_ID can be changed an reflected on the VOXL2.

http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/voxl-mavlink-server_1.4.12-202509181025_arm64.deb

@fhaltmayer We're actively working on an SDK release with Ubuntu 20.04 however it is still a couple months out so not something that you'd be able to start working with today

Hi @will-huang-oksi

Sorry there is not much else I can offer. I'd need to have the HW in my hands to diagnose.

I'd start with the basics, Power. It is possible you blew the VBUS protection circuit that feeds J3 VBUS. It is also possible that GPIO_157 which enables VBUS on J3 is not correctly set in SW.
However, I still ask you discontinue use of M0151 for Doodle as you will have problems in the future and we cannot continue to support that.

Please follow the guidance listed in our cable page for Doodle. Those boards listed do not use the "VBUS" from J3 (rather we power switch the 5V DC Local with proper Hub monitoring), so you can likely recover proper functionality and continue with your efforts.
Thanks!

@linmur02 When you say "latest", which version, specifically, are you using? Yes, the FC V2 does have an internal magnetometer, but in both the ModalAI fork and on mainline the internal magnetometer is not enabled so any mag issues should be related to the mag on the GPS unit. Is the GPS being seen reliably? The barometer is on the board and shouldn't have any issues. If you disconnect that GPS unit do you still see occasional barometer missing errors? Also, can you start swapping out hardware to see if the issues are related to a hardware problem?

@ApoorvThapliyal Thank you for your reply.
I tried voxl-vision-hub --debug_fixed_frame while showing AprilTag to the tracking camera with different orientations, but got some warnings about qvio.
682929b8-d9dd-49a6-b36a-b873d1f365d2-Screenshot 2025-10-03 182038.png
Since this was a warning about qvio, I checked voxl-inspect-qvio, and it was working okay.

Additionally, I wanted to integrate AprilTag Localization with voxl2_takeoff_land.py. Is it possible to make it work if I add the following code between the 'takeoff' and 'landing' commands?
try:
await drone.offboard.set_position_ned(PositionNedYaw(0, 0, -1.0, 0))
await drone.offboard.start()
except OffboardError as e:
print(f"Offboard start failed: {e._result.result}")

await asyncio.sleep(20) print("-- Stopping Offboard mode") try: await drone.offboard.stop() except OffboardError as e: print(f"Offboard stop failed: {e._result.result}")

I tried to operate it without propellers and got the following logs in PX4.
fecd98f3-682b-44e9-9c24-3cf7e95a5a9f-Screenshot 2025-10-03 183324.png
The set points appear to be at the origin instead of those defined by AprilTag. Can you please help me with this?