Here are some pictures of the issue. Did some more testing and it might not be the props as I tested with the props off and the close points are still there. Is there something wrong or blocking the TOF sensor on the seeker? [image: 1668213067386-screenshot-from-2022-11-11-17-07-51.png] [image: 1668213085769-screenshot-from-2022-11-11-17-11-39.png]

@wxyLuna we do offer express delivery. If you would like an estimated time and cost I would send an email to contact@modalai.com with your preferred selection of drone config and address. The ten days you are referring to is the estimated lead time to build the drone, not shipping time duration. We build each drone to order, making sure the product is built to our high standards.

@modaltb Hey! Thank you for the reply ahaha, I understand its a busy quarter for everyone We are connecting the IMU to the I2C3 pins of the J9 6-pin pinout of the 5G Modem. On other devices (such as the jetson AGX orin) we are able to get a data rate of 928 hz , but on the VOXL its stuck at around 628 Hz in ROS. For the ORIN we were able to increase the rate by modifying a bus_clk_rate file in /sys/bus/i2c/devices/i2c-1 but there appears to be no equivalent here. I found a voxl_i2c_write function in your docs that looks like it could increase I2C bus rate, but unsure how to access and use it. Also tried changing the device tree file to increase the rate ceiling and making a .patch to change it and add changes to kernel_patches but that dropped the rate to 120-ish, and never increased it. Quite confusing! Thanks for your time and have a nice day!

Thank you. Also for the purchase delivery, how fast can a m500 order arrive to Illinois? 10days? Is express delivery available?

We just made a new page for the M0094 product. Please check out the following link for a detailed description of the M0094 board and the pin tables for both RB5 Flight and Sentinel drone platforms. https://docs.modalai.com/sentinel-spektrum-bind-board/ Thanks!

@Sem-Andeweg I haven't personally tried, but: J4 on Flight Core is by default a TELEM3 so should be OK to just use (3.3V TTL) https://docs.modalai.com/flight-core-datasheets-connectors/#j4---uart-esc-uart2telem3 J2 by default is the nuttx shell interface. I have always left this as I use it for debug.... but I believe you could remap it. There are some limitations on number of MAVLink instances in PX4, but both your use cases above sound like "not MAVLink", so it would be a matter of messing around with the source code a bit.

Thanks Eric!

@tom to customize the payload to say 2-5kg, is it possible to customize or reconfigure another drone with voxl2 and 5g modem etc?

Build time

We do not currently have that tool

You will have to study PX4 architecture and work through the code to create a new type of GPS input Did you go through the VIO troubleshooting steps? https://docs.modalai.com/flying-with-vio/#troubleshooting-vio

nvm, solved it. Had to enable and run the service voxl-mavlink-server first, then do the same with the voxl-vision-px4 service. I'll leave this here for posterity

Hi, While we so technically support mapping using stereo we almost always use the tof sensor ourselves since it's much more accurate at higher resolutions. The default for our voxl-mapper project uses the tof sensor for mapping with option to enable stereo if that's what you want to use. We generally just use stereo for collision prevention since it's pretty reliable at detecting if something is in front of it or not but can struggle to populate a detailed full-fov image in realtime.

Thanks Eric, I'll look into the legacy mode

Sorry it's mikrobus.

@Steve-Turner said in Seeker drone "backtracking" when it stops to hover: I don't work for Modal, so take this with a grain... MPC_POS_MODE controls some of this behavior. https://docs.px4.io/v1.12/en/advanced_config/parameter_reference.html has a description and you can try the other options to see how that influences the behavior. https://docs.px4.io/v1.9.0/en/config_mc/advanced_mc_position_tuning.html Should help with some of the tuning parameters that control position behavior. Additionally, the PID loop for position might need some tuning if you want it to stop more aggressively. Thanks for the suggestion but I'm quite certain it has nothing to do with MPC_POS_MODE nor the tuning of the velocity/position controller. The phenomenon I described only happens sometimes - especially when VIO quality is low for that stretch of journey just before the drone comes to a stop

@yitakabe Can you post either a screenshot or copy/paste the error you're seeing?

OK. We don't have a documented way, but VOXL 2 is a Linux computer. So you could use some form of networking: ROS or other. There are also UARTs, etc