@victochen , just to close the loop on the original issue.. the delay in the calibration procedure was caused by UART data or processing of the ESC feedback backing up. The fix is to just slow down the command rate, seen in this commit : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/commit/b512f9e3d5e695868775de3d40eedb2ad15cf6d9 . Additionally, using command line argument --cmd-rate 100 when you run the calibration script on VOXL2 will fix the issue.

@Eric-Katzfey The update has been pulled into our fork now. You can access the updated package here: http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/voxl-px4_1.14.0-2.0.106-202507311432_arm64.deb

@greg_s Just pinged our support team, they're taking a look at it now

@VictorG Sorry, the previous post wasn't clear The flight core 2 is capable to receive SBUS or DSMX protocols. So if your FlySky receiver is capable to output SBUS than you can use it

@tom said in Missing Config File: voxl-configure-vision-hub factory_enable thanks. I tried the Sku Wizard then MPA but I seem to still have a blank file when I open it in nano. I will try the factory default next.

No new progress in the last few days. Do you have any idea what the issue might be @Alex-Kushleyev ?

Hi @Roya-Salehzadeh, Yep, the points showing up in voxl_mapper_aligned_ptcloud are static (ie. not tied to the vehicle's current pose) I've never tried to do that so I'm not 100% sure but recording the points with a ros2 bag seems like a reasonable approach 3a. I'm not sure why you would need to do any transformation to plot the data on RViz. Voxl-mapper already does transformations to put the data in a static frame of reference. If you're only seeing it as a live stream this is probably because it's playing one message one after the other. I'm not sure but there might be a setting in RViz to ignore the timestamps or you could potentially do something like set all the timestamps to 1. 3b. Voxl-mapper uses the tof data to generate the map. What are you trying to do by visualizing the tof data? 3c. For visualizing the path I'm not sure if you would need to do transformations or not. This is the line that digests the pose data in voxl-portal. After a little investigating it seems like the /world might be the correct frame_id. If it were me, I'd start by getting the accumulated map on RViz then plot the odometry inside that map with the /world frame_id and then check if you need to do any additional transformations. @brahim what're your thoughts on the RViz frame_id for odometry? Let me know if that helps, Ted

@Daniel-Rincon Yes, please start a new post for the VIO question

@constantines Unfortunately, the PX4 Mavlink module is only running on the applications processor (Linux) and not on the DSP side. Mavlink would have to be added to the DSP PX4 build.

@Avery-Cuevas Yes, the VOXL powers up and I've tried using different USBs and still no result. I even tried reflashing the system, but it won't detect fastboot and adb devices

@Inverse-AJ @rogerli Hi, I also struggled with the OBSTACLE_DISTANCE MAVLink message not appearing in the MAVLink Inspector. Moreover, obstacle avoidance was not functioning after I upgraded v1.3.5 to ModalAI SDK v1.5.0. If you're experiencing this issue, ensure the following: Set MPC_POS_MODE to 0 (Simple Position Control) or 3 (Smooth Position Control). The default value (4, Acceleration-based Input) is incompatible with ModalAI’s VOXL platform. Set COM_OBS_AVOID to 1. This enables obstacle avoidance in PX4. Set CP_DIST to a value greater than 0. This specifies the critical distance for collision prevention. Ensure your drone has a valid home position or local position from QVIO. This is required for proper navigation. Ensure your drone is in Position Hold mode. Obstacle avoidance requires this flight mode. Although the OBSTACLE_DISTANCE message does not appear in the MAVLink Inspector, QGroundControl displays the obstacle distance overlay in its telemetry view, and the drone successfully performs obstacle avoidance. Note: This applies to ModalAI SDK v1.5.0; check for updates in newer versions. [image: 1753088579973-f0d0fe9f-61ff-4287-9210-186dafc0879a-untitled.jpg]

@garret Here's the source code for our branch of Gazebo: https://github.com/modalai/PX4-SITL_gazebo-classic/tree/voxl-dev