Hi @jon , OK got it. Actually, we already do have a passthrough mode that can accept raw data coming from linux (via voxl io server) and forward it to the UART connection for voxl2_io board, for reference, code is here : https://github.com/modalai/px4-firmware/blob/voxl-dev/src/drivers/voxl2_io/voxl2_io.cpp#L270 Let me figure out (remember) how to use it, I will update you soon. Alex

@paul-foley , it looks like our voxl-lepton-server is not setting the FPS field in the metadata : https://gitlab.com/voxl-public/voxl-sdk/services/voxl-lepton-server/-/blob/master/src/publisher.c?ref_type=heads#L338 . I do see above that we do set the framerate in json info about the output pipe (cJSON_AddNumberToObject(json, "framerate", 9);) and the framerate is hardcoded to 9, since i guess all lepton sensors are running at 9fps. I just made the change to publish the fps : https://gitlab.com/voxl-public/voxl-sdk/services/voxl-lepton-server/-/commit/110b9cce4c021322566e46f36d6878fca55f7d26 You are using an older voxl SDK, so installing latest nightly package (from http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/ will probably not work). So you probably need to take the source of the version you are running now (1.3.3 : https://gitlab.com/voxl-public/voxl-sdk/services/voxl-lepton-server/-/tree/v1.3.3?ref_type=tags) and apply the same change in the source code and build it. Since i just pushed to dev branch, a new version of leptop server should appear in our package repo tomorrow, and you can download and try it. it might work, but your SDK is 2 major versions down from where we are now (1.4.x vs 1.6.x), so you may want to just build the patched version 1.3.3 : git clone https://gitlab.com/voxl-public/voxl-sdk/services/voxl-lepton-server.git cd voxl-lepton-server git checkout v1.3.3 #make the change in publisher.c to include fps ... ... #start voxl-cross docker (you can download it in our downloads section: https://developer.modalai.com/asset) docker run -it --rm -v `pwd`:/opt/code -w /opt/code voxl-cross:V4.6 bash ./install_build_deps.sh qrb5165 sdk-1.4 ./build.sh qrb5165 ./make_package.sh #then, outside docker, deploy the new package to voxl2 via adb ./deploy_to_voxl.sh Please let me know if this works for you! Alex

@Saleh-Ibrahim the drones come pre-configured for VIO and are flight tested in VIO mode prior to shipping. To troubleshoot VIO, please start here: https://docs.modalai.com/voxl-open-vins-server/#troubleshooting VOA does not ship enabled by default

@bendraper I just tried it and it is working now: modalai@modalai:~/development/modalai/voxl-vision-hub (dev)$ voxl-docker -i voxl-cross launching image: voxl-cross with the following command: docker run --rm -it --net=host --privileged -w /home/modalai --volume=/dev/bus/usb:/dev/bus/usb -e LOCAL_USER_ID=0 -e LOCAL_USER_NAME=root -e LOCAL_GID=0 -v /home/modalai/development/modalai/voxl-vision-hub:/home/root:rw -w /home/root voxl-cross /bin/bash -l voxl-cross(4.4):~(dev)(1.9.21)$ ./clean.sh voxl-cross(4.4):~(dev)(1.9.21)$ ./install_build_deps.sh qrb5165 dev using qrb5165 dev debian repo Ign:1 http://voxl-packages.modalai.com ./dists/qrb5165/dev/binary-arm64/ InRelease Ign:2 http://voxl-packages.modalai.com ./dists/qrb5165/dev/binary-arm64/ Release Get:3 http://voxl-packages.modalai.com ./dists/qrb5165/dev/binary-arm64/ Packages [76.8 kB] Fetched 76.8 kB in 1s (122 kB/s) Reading package lists... Done INSTALLING: libmodal-json libmodal-pipe librc-math libmodal-cv voxl-mpa-tools voxl-mavlink Reading package lists... Done Building dependency tree... Done Reading state information... Done The following NEW packages will be installed: libmodal-cv:arm64 libmodal-json:arm64 libmodal-pipe:arm64 librc-math:arm64 voxl-mavlink:arm64 voxl-mpa-tools:arm64 0 upgraded, 6 newly installed, 0 to remove and 2 not upgraded. Need to get 5026 kB of archives. After this operation, 0 B of additional disk space will be used. Get:1 http://voxl-packages.modalai.com ./dists/qrb5165/dev/binary-arm64/ librc-math 1.4.6-202510091209 [180 kB] Get:2 http://voxl-packages.modalai.com ./dists/qrb5165/dev/binary-arm64/ libmodal-cv 0.6.0-202510141028 [3887 kB] Get:3 http://voxl-packages.modalai.com ./dists/qrb5165/dev/binary-arm64/ libmodal-json 0.4.8-202510091202 [52.5 kB] Get:4 http://voxl-packages.modalai.com ./dists/qrb5165/dev/binary-arm64/ libmodal-pipe 2.14.10-202601210836 [151 kB] Get:5 http://voxl-packages.modalai.com ./dists/qrb5165/dev/binary-arm64/ voxl-mavlink 0.1.6-202511141246 [650 kB] Get:6 http://voxl-packages.modalai.com ./dists/qrb5165/dev/binary-arm64/ voxl-mpa-tools 1.5.6-202601201423 [106 kB] Fetched 5026 kB in 1s (6805 kB/s) debconf: unable to initialize frontend: Dialog debconf: (No usable dialog-like program is installed, so the dialog based frontend cannot be used. at /usr/share/perl5/Debconf/FrontEnd/Dialog.pm line 79, <STDIN> line 6.) debconf: falling back to frontend: Readline Selecting previously unselected package librc-math:arm64. (Reading database ... 35164 files and directories currently installed.) Preparing to unpack .../0-librc-math_1.4.6-202510091209_arm64.deb ... Unpacking librc-math:arm64 (1.4.6-202510091209) ... Selecting previously unselected package libmodal-cv:arm64. Preparing to unpack .../1-libmodal-cv_0.6.0-202510141028_arm64.deb ... Unpacking libmodal-cv:arm64 (0.6.0-202510141028) ... Selecting previously unselected package libmodal-json:arm64. Preparing to unpack .../2-libmodal-json_0.4.8-202510091202_arm64.deb ... Unpacking libmodal-json:arm64 (0.4.8-202510091202) ... Selecting previously unselected package libmodal-pipe:arm64. Preparing to unpack .../3-libmodal-pipe_2.14.10-202601210836_arm64.deb ... Unpacking libmodal-pipe:arm64 (2.14.10-202601210836) ... Selecting previously unselected package voxl-mavlink:arm64. Preparing to unpack .../4-voxl-mavlink_0.1.6-202511141246_arm64.deb ... Unpacking voxl-mavlink:arm64 (0.1.6-202511141246) ... Selecting previously unselected package voxl-mpa-tools:arm64. Preparing to unpack .../5-voxl-mpa-tools_1.5.6-202601201423_arm64.deb ... Unpacking voxl-mpa-tools:arm64 (1.5.6-202601201423) ... Setting up voxl-mavlink:arm64 (0.1.6-202511141246) ... Setting up libmodal-json:arm64 (0.4.8-202510091202) ... Setting up librc-math:arm64 (1.4.6-202510091209) ... Setting up libmodal-pipe:arm64 (2.14.10-202601210836) ... Setting up libmodal-cv:arm64 (0.6.0-202510141028) ... Setting up voxl-mpa-tools:arm64 (1.5.6-202601201423) ... Processing triggers for libc-bin (2.39-0ubuntu8.5) ... Done installing dependencies voxl-cross(4.4):~(dev)(1.9.21)$ ./build.sh qrb5165 Found voxl-cross version: 4.4 -- --------------------------------------------------------- -- Using voxl-cross 64-bit toolchain for QRB5165 ubun1 18.04 -- C Compiler : /usr/bin/aarch64-linux-gnu-gcc-7 -- C++ Compiler: /usr/bin/aarch64-linux-gnu-g++-7 -- Sysroot : /opt/sysroots/qrb5165_1 -- C flags : -isystem=/usr/lib/gcc/aarch64-linux-gnu/7/include -isystem=/usr/local/include -isystem=/usr/lib/gcc/aarch64-linux-gnu/7/include-fixed -isystem=/usr/include/aarch64-linux-gnu -isystem=/usr/include -idirafter /usr/include -march=armv8.2-a -- CXX flags : -isystem=/usr/include/c++/7 -isystem=/usr/include/aarch64-linux-gnu/c++/7 -isystem=/usr/include/c++/7/backward -isystem=/usr/lib/gcc/aarch64-linux-gnu/7/include -isystem=/usr/local/include -isystem=/usr/lib/gcc/aarch64-linux-gnu/7/include-fixed -isystem=/usr/include/aarch64-linux-gnu -isystem=/usr/include -idirafter /usr/include -march=armv8.2-a -- Link Flags : -B/opt/sysroots/qrb5165_1/usr/lib/ -L/opt/sysroots/qrb5165_1/usr/lib/gcc/aarch64-linux-gnu/7 -L/opt/sysroots/qrb5165_1/usr/lib/aarch64-linux-gnu -L/opt/sysroots/qrb5165_1/usr/lib -L/opt/sysroots/qrb5165_1/lib/aarch64-linux-gnu -L/opt/sysroots/qrb5165_1/usr/lib/aarch64-linux-gnu -L/opt/sysroots/qrb5165_1/lib -L/usr/lib64 -L/usr/lib -- The C compiler identification is GNU 7.3.0 -- The CXX compiler identification is GNU 7.3.0 -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Check for working C compiler: /usr/bin/aarch64-linux-gnu-gcc-7 - skipped -- Detecting C compile features -- Detecting C compile features - done -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Check for working CXX compiler: /usr/bin/aarch64-linux-gnu-g++-7 - skipped -- Detecting CXX compile features -- Detecting CXX compile features - done -- Configuring done (0.3s) -- Generating done (0.0s) -- Build files have been written to: /home/root/build [ 6%] Building C object utils/CMakeFiles/voxl-inspect-vfc.dir/voxl-inspect-vfc.c.o [ 6%] Building C object utils/CMakeFiles/voxl-calibrate-px4-horizon.dir/voxl-calibrate-px4-horizon.c.o [ 12%] Building C object src/CMakeFiles/voxl-vision-hub.dir/control_input.c.o [ 12%] Building C object src/CMakeFiles/voxl-vision-hub.dir/fixed_pose_input.c.o [ 18%] Building C object src/CMakeFiles/voxl-vision-hub.dir/geometry.c.o [ 18%] Building C object src/CMakeFiles/voxl-vision-hub.dir/autopilot_monitor.c.o [ 24%] Building C object src/CMakeFiles/voxl-vision-hub.dir/config_file.c.o [ 24%] Building C object src/CMakeFiles/voxl-vision-hub.dir/horizon_cal.c.o [ 30%] Building C object src/CMakeFiles/voxl-vision-hub.dir/main.c.o [ 36%] Building C object src/CMakeFiles/voxl-vision-hub.dir/mavlink_io.c.o [ 36%] Building C object src/CMakeFiles/voxl-vision-hub.dir/imu_manager.c.o [ 27%] Building C object src/CMakeFiles/voxl-vision-hub.dir/horizon_cal_file.c.o [ 39%] Building C object src/CMakeFiles/voxl-vision-hub.dir/mavlink_for_ros.c.o [ 42%] Building C object src/CMakeFiles/voxl-vision-hub.dir/offboard_backtrack.c.o [ 45%] Building C object src/CMakeFiles/voxl-vision-hub.dir/obs_pc_filter.c.o [ 48%] Building C object src/CMakeFiles/voxl-vision-hub.dir/misc.c.o [ 51%] Building C object src/CMakeFiles/voxl-vision-hub.dir/offboard_figure_eight.c.o [ 54%] Building C object src/CMakeFiles/voxl-vision-hub.dir/offboard_follow_tag.c.o [ 57%] Building C object src/CMakeFiles/voxl-vision-hub.dir/offboard_mode.c.o [ 60%] Linking C executable voxl-calibrate-px4-horizon [ 60%] Built target voxl-calibrate-px4-horizon [ 63%] Building C object src/CMakeFiles/voxl-vision-hub.dir/offboard_trajectory.c.o [ 66%] Linking C executable voxl-inspect-vfc [ 66%] Built target voxl-inspect-vfc [ 69%] Building C object src/CMakeFiles/voxl-vision-hub.dir/offboard_vfc.c.o [ 72%] Building C object src/CMakeFiles/voxl-vision-hub.dir/offboard_wps.c.o [ 75%] Building C object src/CMakeFiles/voxl-vision-hub.dir/pose_filter.c.o [ 78%] Building C object src/CMakeFiles/voxl-vision-hub.dir/state_manager.c.o [ 81%] Building C object src/CMakeFiles/voxl-vision-hub.dir/tag_manager.c.o [ 84%] Building CXX object src/CMakeFiles/voxl-vision-hub.dir/trajectory_monitor.cpp.o [ 87%] Building C object src/CMakeFiles/voxl-vision-hub.dir/transform_ringbuf.c.o [ 90%] Building C object src/CMakeFiles/voxl-vision-hub.dir/vio_manager.c.o [ 93%] Building C object src/CMakeFiles/voxl-vision-hub.dir/voa_manager.c.o [ 96%] Building C object src/CMakeFiles/voxl-vision-hub.dir/voxl_vfc_config.c.o [100%] Linking CXX executable voxl-vision-hub [100%] Built target voxl-vision-hub

Hello @HLaGrone , Sorry for the delay in response! Did something happen to the board that caused it to stop booting? Are you able to remove the voxl2 board completely from the drone and just try to boot it by itself (nothing plugged in except APM / ESC for power and USB)? Sometimes issues on power rails going to external components (like cameras) can prevent the board from booting. Alex

Hi @shawn_ricardo Yes, any I2C port on an expansion board has 2.2K pullups to the voltage on Pin 1 of that connector. The Linux Kernel user guide has info on which QUPS are enabled or not in which system image. [image: 1769099579133-3356687b-6e2d-4443-9a15-6e9aa07566d1-image.png] and specifically this helps: https://docs.modalai.com/voxl2-qups/ Note not all QUPs have actually been enabled in the system, but with the sets of ports we have enabled, we never had any customer claim of a shortage:

Hi @Tormod-Axelsson-Hagen Our descriptions tell you all you might need to know to make your own power module: 2-6S tolerant (so VIN capable of up to ~25.2V+) 6A output at 5V Current monitoring if you do not use our ESCs (our ESCs provide a current reading to keep PX4 and other autopilots happy and for accurate remaining battery %) Connector format of your choosing but the Molex 4-pin MINI SPOX is the direct 1:1 for VOXL 2 https://www.digikey.com/en/products/detail/molex/0022057045/403343?s=N4IgTCBcDaIAxzGOBWA7HALCkBdAvkA If you want to make this flexible for VOXL 2 Mini, make it capable of generating 3.8V and use the MOLEX MICRO ONE family of connectors https://www.digikey.com/en/products/detail/molex/2059720041/13235081?s=N4IgTCBcDa4AwFYCcB2Mc4BYCMIC6AvkA) The rest is up to you based on your design intent and supply chain constraints and preferred vendors. Hope this helped!

@bendraper The code is open source. It is located here: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-vision-hub/-/tree/dev?ref_type=heads. We encourage users to clone the repo and familiarize themselves with the code base. Did you try setting offboard_mode to off? Did it stop the SET_POSITION_TARGET_LOCAL_NED messages from being sent out?

@Arsalan-Sheikh You can find a 3D STEP file here https://docs.modalai.com/starling-2-max-datasheet/ We aren't familiar with the Gazebo requirements so hopefully the STEP file gets you what you need

@zaimin78 We no longer sell that module. We do have some in stock though if you reach out at https://modalai.com/contact we should be able to get you a custom order.

@Alex-Kushleyev Thanks!

@Alex-Kushleyev Ok, I will order it in the future. Regards, Jacob

@jonathankampia https://gitlab.com/voxl-public/voxl-sdk/core-libs/libmodal-pipe/-/blob/master/library/src/interfaces.c?ref_type=heads#L72

@Gary-Holmgren , The configuration you are asking about is the standard C28 (https://docs.modalai.com/voxl2-coax-camera-bundles/#mdk-m0173-1-03) with an addition of another hires camera. Using MISP (not built-in ISP), VOXL2 supports as many hires cameras as can be physically connected (may run into some limitations if you are running at full resolution and encoding all streams at the same time). C28 config uses VOXL2 + M0173 and you are left with voxl2 J8 (which has two camera ports), so we just need to add another IMX412 to voxl2 J8. The best way to do this would be using M0181 (which supports a Boson + hires camera), it would be connected like this (you can just ignore Boson): [image: 1767885467815-c89b4153-c47e-4dc2-bace-baabe08fbfa1-image.png] What is not shown here is the standard C28 config (using M0173 adapter, plugged into VOXL2 J6, J7). Just to make sure there will be enough processing resources for the three IMX412, can you briefly describe what resolution you plan to use and whether you need encoded video, etc. I could test this configuration for you. Alex

@YUUJI-INOUE , Yes the square glass piece is the IR cut filter. It should be glued to the lens assembly in the for corners of the square. You could remove it yourself, at your own risk. Please see a similar discussion and results in the following thread : https://forum.modalai.com/topic/4826/msu-m0149-1-ir-filter (this that case, the lens is slightly different and it was much more difficult to remove the IR filter). In your case, the filter may pop out without breaking, but it is likely to break. You may want to put some tape on the filter before removing it, which would help avoid having loose pieces of glass. Alex