Unfortunately, we have never tried anything but IPv4, and don't really have much of any experience using IPv6 in general.

The vvpx4 option is the second to last one there: "en_tag_fixed_frame". In order to use tag localization, make sure the voxl-tag-detector service is running. The config file for this is at /etc/modalai/voxl-tag-detector.conf and you can specify the tag locations at /etc/modalai/tag_locations.conf

Great, thank you!

Hi @DarkKnightCH , It's likely something you can setup in your transmitter, or perhaps reset the transmitter to default state. What make and model do you have?

That page needs to be updated. The concepts are good but that xml format is out of date. So, voxl-configure-extrinsics is likely the right approach for changing the values We will try to get that page updated in the next day or two to be more clear

We have never used a Xavier, sorry

Hi @DarkKnightCH , We offer other receivers to be installed on the m500 as well, but roughly: weight and size, indoor flying was a primary first use case, spectrum is good for that. For outdoor it works but the range isn’t great, so you could use another receiver. The satellite receiver 100 percent works as we’ve shipped hundreds in this config, but please choose from the options that fit your need for longer range. If you need BVLOS, consider LTE instead, but you should be savvy to setup a VPN server! No main reciever needed. The satellite receiver is put into binding mode via a button in QGC. We’ve bound hundreds of vehicles this way. After pressing the button, the reciever flashes it’s LED quickly to indicate it’s in binding mode. Please note, there are knock offs “spektrums” in the world that may not work.

Here is a link to my .param file: https://drive.google.com/file/d/14DA0fQ8Q4PowwlFXMUfU_w1wteXpM9rk/view?usp=sharing

We do plan to bring the gimbal version back to life, hopefully by the end of the year. We have other, higher priority, products in the pipeline right now.

Thanks, I just wanted to check if I was totally off track. I'll let you know how it goes, the potential of over the air adb updates are very tantalizing

Where does the april tag localization change the drone position being sent to the pixhawk to affect the error signal of target-position? I will need to use this position so I can correctly offset my path starting point The setpoints are are sent to uart_mavlink.c where they are transformed by geometry_transform_fixed_setpoints_to_local where the april tag transformation matrix is used to convert from fixed to local frame, which is sent off to the pixhawk. If no april tags are used local_frame == fixed_frame Does the px4 expect path in the same reference frame as vio state (ie position in world coordinates, velocities in body frame?) px4 expects setpoints in local frame, but offboard figure eight assumes they are set in fixed frame (see above). Please correct me if I am wrong here. Cheers

I see! Yes after changing this params I can calibrate the imu now with snav!! Thanks for your help!

Also, is it possible to log the IMU data of PX4? Will you provide some library functions to implement that?

@Daniel-Ryu , here's a possibility: https://docs.modalai.com/voxl-m500-gimbal-user-guide/#mavsdk-behavior-with-mavlink This gimbal is fairly simple, the stabilization occurs on bootup automatically only.

@Alex-Gardner thank you. I'll head down that path with ROS. Any readmes/docs/guidance on how I can extract the telemetry/pose data via UART(J10)? I have the hardware connected, but a bit lost on where to start. Would it be easier if I added the Flight Core to the VOXL to get the telemetry ports J4/J5? Is Flight Core required to allow qGroundControl to connect to VOXL? Thanks.

If you have an M500, it contains either a VOXL Flight, and there's an internal UART from the PX4 processor (STM32F7) to the Snapdragon processor running linux. This is setup on MAV1, and if changed would halt comms between the two systems. https://github.com/PX4/PX4-Autopilot/blob/master/boards/modalai/fc-v1/init/rc.board_defaults#L23