@Gary-Holmgren , Our voxl-esc tools use a python wrapper around qrb5165-io library, which is pretty easy to use. The wrapper provides an api that is almost the same as the standard serial port class in python : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/master/voxl-esc-tools/voxl_serial.py. The usage of this wrapper can be seen here : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/master/voxl-esc-tools/voxl-esc-neopixel-test.py?ref_type=heads#L114 . You should use the port name such as /dev/slpi-uart-2 , which is a fake name (it does not exist in the Linux /dev/ folder) but the wrapper class will extract the port index at the end. Technically any name with -2 at the end will tell VoxlSerialPort class to use the DSP's uart port 2. You could write a service that uses a python3 script to comunicate with the serial port and expose the data via UDP using other python tools. The limitation of only one concurrent DSP uart port usage still applies here. Alex

@Zachary-Lowell-0 Would definitely be a useful function. I am probably gonna stick with voxl2 running px4 for now since it simplifies things.

@Zachary-Lowell-0 Yes this did the trick, thankyou!

Hi @Gary-Holmgren. This is likely because you're running the build script from an x86 system (docker requires that you build on the same architecture as the base image, in this case arm64). You can solve that by cloning the repo onto the voxl and running build.sh from there. Note: make sure your voxl has a wifi connection before running ./build.sh.

@Eric-Katzfey Thank you for your quick update. I was able to confirm that it is functioning properly. Really appreciate your support. Wishing you a wonderful New Year!

@tom Thanks!

@Shivam-Sehgal , does it look like the board is rebooting after 10 seconds of running with cameras enabled? also, what if you ssh into the board, does the SSH connection stay alive when the cameras are connecting? Also, how are you powering the drone for this test - battery or power supply? Alex

@Shivam-Sehgal , it seems you are using VOXL SDK that is more than one year old, please upgrade to the latest 1.3.5. If you are not able to upgrade, then please try the following: reduce the width/ height of hires camera large video stream to 3840x2160, if that does not help, reduce the FPS of hires camera to 25Hz disable snapshot if you are not using that feature try starting voxl-camera-server manually and assign upper cores 2-7 to the process, which helps with stability stop camera server running in the background (if applicable) : systemctl stop voxl-camera-server run camera server and assign cpu affinity using taskset : taskset -c 2-7 /usr/bin/voxl-camera-server Alex

@griffin Unless you have your network setup to manually cycle IP addresses every so often then your PC's IP address should stay the same. They're usually logged by mac address

@Jeremy-Frederick Okay, well then you will need to add support for such an external Mavlink enabled peripheral into voxl-mavlink-server. We don't currently support that.

@Alex-Kushleyev Thanks, everything looks alright now that I've removed the other cameras from the config file

@svempati Are you trying to access the mavlink data from VOXL 2 itself or from an offboard computer / ground station?

@Shivam-Sehgal Re-calibrating cameras if the calibration files are lost requires a precise calibration board which many customers don't have, which is why we back them up in our database before shipping the drones. These calibration files (extrinsic and intrinsic) are specific to each drone. gyro, accel, and other sensors can be easily re-calibrated on the bench by the user without any extra peripherals.

@Gary-Holmgren Thanks for the update!

@FIREBIRD VOXL2: https://www.modalai.com/products/voxl-2?variant=39914779836467 https://docs.modalai.com/voxl2-datasheets/ M0130 add-on board (1 USB 3.0 + 2 USB 2.0s): https://www.modalai.com/collections/voxl-2-add-ons/products/m0130-3?variant=48186331693360 https://docs.modalai.com/lte-io-breakout-usb-hub-datasheet/

@Gary-Holmgren Copying over response from another thread: https://forum.modalai.com/post/20119

@mkriesel, For global shutter camera like AR0144, the center of exposure will happen at the time that you suggested: int64_t center_of_exposure_ns = start_of_exposure_ns + exposure_time_ns / 2; For rolling shutter cameras, this is not true because different lines are exposed at different times. In this case, the center of exposure, which means the center of exposure of the middle line ( ) will be: int64_t center_of_exposure_ns = start_of_exposure_ns + (exposure_time_ns + readout_time_ns)/2; This means that you will need to know the readout_time (which is time it takes for the full image to be transferred from the camera). It is not currently exposed in camera server or the camera metadata. Take a look at this resource, it should help understand the rolling shutter case if you need : https://www.1stvision.com/cameras/IDS/IDS-manuals/en/basics-shutter-mode.html , specifically: [image: 1734062749454-shutter_global.png] [image: 1734062647078-shutter_rolling.png] Alex

@soraminds VOXL 2 is a Linux computer so you can just run Apache or any other standard web server. But be aware that voxl-portal is also a running web server so you would have to stop it or, even better, run your server on a different port.