@Adrian-Hidalgo Correct, this is on an m500 drone. I intend to fly to GPS waypoints in mission mode (I have done this a few times successfully before noticing the local_position_ned was drifting). I didn't see the vehicle drift while in flight but wanted to double-check before flying again. I am not sure when the local_position_ned began drifting. I have tried resetting qvio - seeing that doing so had resolved local_position_ned issues for someone on another forum. I have the drone on my desk and powered from a 12V 3A wall power supply - I believe that is why the battery status reports zero (when I use a lipo, the battery status looks correct). & yes the vehicle parameters have been loaded.

thank you

Hi, we only support ModalAI products on this forum. Have you seen the PX4 support forum and Slack? That might be a better place to start: https://docs.px4.io/main/en/contribute/support.html

Thanks! @Alex-Gardner

@Dong-Liu Unfortunately that is a bug with the SD865 SOM. We've had a ticket open with Qualcomm for a long time with no solution yet. Checkout this thread for a solution: https://forum.modalai.com/topic/794/how-to-set-up-a-static-ip-in-rb5/15?_=1659465332297 You basically just need to create a systemd service file to set the IP on boot.

@Chad-Sweet yes I have! In fact, I'm quite certain that it has been configured properly and the vibration levels are manageable. As I have said, my flights are predominantly indoors and the drone performs fantastically in an apartment/cluttered environment. But i noticed that it drifts in almost all 3 axis when travelling down an empty hallway/corridor and the feature points tracked by QVIO seems to be further down at the end of the hallway (more than 20-30m away)

Sorry for the late reply. the source code is here. If you have any suggested updates we would be happy to review a pull request

We have never used the Flir Vue camera. The only experiments we have done with aux pwms is documented here. Hopefully that helps.

Hi @Alex-Gardner, We switched from using voxl-cross and using adjusted .sh files from voxl-vision-px4, to placing our script inside libvoxl_io and adjusting the install_deps and CMakeLists.txt file. Then we can use the 32bit compilers from libvoxl_io, instead of the 64bit compiler from voxl-vision-px4 (we are not really using voxl-vision-px4 as a whole, we just copied some files for dependencies en building). We added the libraries to install-deps, except modal-cv (because we don't need it) and that works. (Libvoxl_io is not among the installed libraries, because we placed our script inside libvoxl_io itself) [image: 1659351485197-3a3c4a0b-8e8f-427e-8390-7a8881e8d6eb-image.png] But when we try to build it, it raises the following error: [image: 1659351624836-f847627f-65ab-4918-909b-42cc143e89a8-image.png] In /usr/include there is a file called modal_pipe_common.h, but the error remains. [image: 1659351796921-8f0338fa-b256-4fe8-b463-ef6d68f1c691-image.png] I also don't understand why the path in the error is: usr/include/c_library_v2/../modal_pipe_server.h, and not: usr/include/modal_pipe_server.h Is placing our script inside libvoxl_io like this the right path? How can we fix the error?

Thanks Vinny -- we'll keep an eye out for the email!

Hey @andyh, We have a USB3 cable with a 10 pin connector that is compatible with the 5G modem carrier board listed here.

Got it, thanks to both. Sorry for the paranoia!

@Chad-Sweet Thank you!

@Zachary-Lowell Yes, it is in voxl-px4.config. The gps start line has a -d parameter to specify the serial port. But J19 is the standard place to attach GPS so you can stick with what is already there. But please note that Holybro made changes to the pixhawk 4 GPS unit a few months ago and VOXL 2 only works with the newer updated version. If you have an older unit it will not work.

Thank you so much for the response Chad!

@Matthew-Booker will do that, thank you!!

@modaltb Hi there! May I ask how the loopback test is conducted? How do you get the github file to run on VOXL? Thank you!