@voxltester Great! Glad you got it working.

@Muqing-Cao Here is the latest beta release: https://storage.googleapis.com/platform-beta-releases/voxl2/voxl2_SDK_1.6.3-beta1.tar.gz

@YUUJI-INOUE Glad to hear! All the best, ZBFT

@sansoy Can you please provide some details on your setup? What hardware are you using? Which software are you using (including versions)?

@Denver-Bennett said in How do I connect MAVROS to PX4 with UDP ports?: voxl-vision-hub.conf did you ever get this resolved? having same issue. S

@Aaky After that much use it could very well be ESD damage. It seems unlikely we would be able to fix via RMA.

@Piyush-Singh Have you tried voxl-camera-server -d0 found here https://docs.modalai.com/voxl-camera-server/#troubleshooting ? You cannot plug in cameras arbitrarily, you'll need to use one of the supported camera configurations: https://docs.modalai.com/voxl2-camera-configs/

@Sarika-Sharma Now TOF is detected. I have choosed pmd-tof instead of pmd-tof-liow2. But please give solution for the following problem. When I used J7 according to the following configuration Hardware Setup M0104 Connector Interposer Sensor HW ID J7 M0135 JL Tracking (M0014 ) 2 J7 M0135 JU Hires (M0025-2 ) 3 OR J7 M0135 JL Hires (M0025-2 ) 2 J7 M0135 JU Tracking (M0014 ) 3 ONLY , The camera which is connected to JL is working either tracking or hires. Cameras connected to JU is not working. When i run voxl-camera-server it gives this WARNING: cam tracking (id 1) does not seem to be alive ------ voxl-camera-server: Started 1 of 2 cameras ------ voxl-camera-server: Camera server is now running OR When i run voxl-camera-server it gives this WARNING: cam hires (id 1) does not seem to be alive ------ voxl-camera-server: Started 1 of 2 cameras ------ voxl-camera-server: Camera server is now running/home/idr/Downloads/WhatsApp Image 2025-12-26 at 5.31.01 PM.jpeg

@Sarika-Sharma Kindly resolve this issue also https://forum.modalai.com/topic/4952/pmd-tof-not-detected-on-voxl2?_=1766730439331.

Hello @taiwohazeez , Thank you for sending updated images. Just for sanity checking, please double check that the other tracking camera on your drone is in focus and does not have this issue.. (i assume that is true). To me, it definitely looks likes either damaged or dirty lens on the external lens surface damaged or dirty lens on the internal lens surface (the back surface of the lens) dirty surface of the camera sensor itself (inside the camera module) If you are comfortable with unscrewing the lens completely and wiping it (front and back) with a new microfiber cloth (preferably long strand) and screw it back again to check if there is any improvement. Also, once you remove the lens, you can take a look at the sensor itself, any dirt or smudges should be very easy to detect because the surface of the camera sensor is very reflective and should be perfectly clean. I can't recommend cleaning the sensor itself on your own, since that would involve inserting something inside the camera module, which could lead to damage. Please dont keep the lens out of the lens holder for a long time (hours) as dust or dirt may get inside on the surface of the sensor (do not perform this procedure in a dusty environment). Please reach out to https://www.modalai.com/pages/rma if you need further help to get this fixed / replaced. Alex

Hello @shalini-kumari , The M0186 camera uses the Sony IMX664 sensor. You can find high level information for the M0186 module here https://docs.modalai.com/M0186/ (as well as a link to the basic documentation from Sony). The camera sensor itself (within M0186 module) requires three primary voltages, 3.3V, 1.8V and 1.1V. The maximum power consumption is 0.6-0.7W (theoretical), although we have not explicitly measured it.This is for a worst case, full frame resolution 120FPS. VOXL2 and the M0186 module provide the appropriate voltages for the IMX664 sensor to function properly. Note that the power consumption of the whole system will not only depend on the camera resolution, fps, it will also depend on what you are doing with the images in VOXL2 (since VOXL2 will also consume power processing the images). Hopefully this helps. Alex

@jmltt For reference, here is a commit that will allow our fork to build for SITL on Ubuntu 24.04: https://github.com/modalai/px4-firmware/commit/8366d2e56c171230ee31c0856cb243d46f09de31

@alan123 Are you starting voxl-px4 from the command line (e.g. voxl-px4 -d) or is it starting automatically from a systemd service file on startup. If you have started it from the command line you can enter commands from the px4 shell. So, after the script is done, you can enter gps status to see that the driver is doing. If the driver hasn't been started, try starting it directly from the command line.

@YUUJI-INOUE This is the setup I did for stable operation, please let me know if there are any mistakes. Stinger (VOXL 2 Mini) VIO Setup Guide This document provides instructions for setting up a stable VIO (Visual Inertial Odometry) environment on the ModalAI Stinger (equipped with VOXL 2 Mini). It focuses on SDK version selection and correct configuration commands for the D0013 build to ensure reliable autonomous flight. 1. Prerequisites Drone: ModalAI Stinger (VOXL 2 Mini) Configuration ID: D0013 (Stinger V2) PC Environment: Linux/Ubuntu with ADB (Android Debug Bridge) installed Network: Internet connection required for the drone (via Wi-Fi) for apt-get operations 2. SDK Version Check and Installation IMPORTANT: Development versions (Alpha/Beta) of the SDK may cause unstable VIO behavior. It is strongly recommended to use the Stable SDK 1.6.2. 2.1 Check Current Version Connect to VOXL via ADB and check the version: adb shell voxl-version # OR adb shell apt-cache policy voxl-suite If you see versions like 1.6.3~alpha, you must downgrade. 2.2 Install SDK 1.6.2 Force install the stable version: # Run inside VOXL shell or via adb shell adb shell "DEBIAN_FRONTEND=noninteractive apt-get install -y voxl-suite=1.6.2" 2.3 Install Required Libraries To fix dependency issues with OpenVINS in SDK 1.6.2, install the voxl-ceres-solver library (libceres.so.2 adb shell "apt-get install -y voxl-ceres-solver" Note: Without this, voxl-open-vins-server will fail to start. 3. Factory Reset and Configuration Apply the correct presets for Stinger (D0013). Using these commands is more reliable than manual configuration. 3.1 Configure Extrinsics Load the camera and IMU geometry for Stinger V2 (D0013). adb shell "voxl-configure-extrinsics D0013_Stinger_V2" 3.2 Configure Vision Hub Configure how VIO data is sent to PX4 using the Stinger-specific preset. adb shell "voxl-configure-vision-hub factory_enable_vfc_pos_back_flow_d0013" 3.3 Configure OpenVINS Reset the VIO server configuration. adb shell "voxl-configure-open-vins factory_enable" 3.4 Configure PX4 Parameters Load optimized PID gains and flight parameters for Stinger (D0013). adb shell "voxl-configure-px4-params -n -p MRB-D0013" 3.5 Enable VIO (Official Helper) Load the official parameter helper file for indoor VIO flight without GPS. adb shell "voxl-configure-px4-params -n -f /usr/share/modalai/px4_params/v1.14/EKF2_helpers/indoor_vio_missing_gps.params" 3.6 Configure ESCs Upload Stinger-specific ESC parameters. adb shell "/usr/bin/voxl-esc setup_d0013" If you encounter invalid option errors, use the manual python script method: adb shell "systemctl stop voxl-px4 && cd /usr/share/modalai/voxl-esc-tools/ && python3 voxl-esc-upload-params.py --params-file ../voxl-esc-params/D0013/lumenier_2305_2400kv_GF_D90_4S.xml && systemctl start voxl-px4" 3.7 Change ESC Mode (Critical) Change ESC control from RPM mode (default) to Power mode to ensure reliable motor startup. adb shell "px4-param set VOXL_ESC_MODE 0" 3.8 Motor Test WARNING: REMOVE PROPELLERS BEFORE TESTING Spin Motor 0 (Front Right) for 2 seconds to verify ESC communication. adb shell "systemctl stop voxl-px4" adb shell "cd /usr/share/modalai/voxl-esc-tools/ && python3 voxl-esc-spin.py --id 0 --power 15 --timeout 2 --skip-prompt True" adb shell "systemctl start voxl-px4" 4. Advanced Optimization (Critical for Stability) 4.1 OpenVINS Optimization (Stinger Specific) To prevent data corruption and initialization errors on Stinger (D0013): Disable imu_body_frame_mode. Change configuration folder to fpv. adb shell "sed -i 's/\"imu_body_frame_mode\":\ttrue/\"imu_body_frame_mode\":\tfalse/' /etc/modalai/voxl-open-vins-server.conf" adb shell "sed -i 's/starling2/fpv/g' /etc/modalai/voxl-open-vins-server.conf" 4.2 Stabilize Connection After Reboot Prevent voxl-vision-hub from starting before voxl-open-vins-server is ready by adding a 10-second delay. Edit /etc/systemd/system/voxl-vision-hub.service: adb shell "sed -i 's/After=voxl-wait-for-fs.service/After=voxl-wait-for-fs.service voxl-open-vins-server.service/' /etc/systemd/system/voxl-vision-hub.service" adb shell "sed -i '/ExecStart=\/usr\/bin\/voxl-vision-hub/i ExecStartPre=\/bin\/sleep 10' /etc/systemd/system/voxl-vision-hub.service" 4.3 IMU Calibration If VIO is unstable or the Web Portal Health Check shows "IMU Calibration Missing", perform calibration: adb shell "voxl-calibrate-imu" Follow the on-screen instructions to place the drone in 6 orientations. 5. Apply Changes and Reboot After applying all settings, reboot the drone. A hard power cycle (unplug battery) is recommended to ensure all sensors reset correctly. adb shell reboot 6. Verification 6.1 Check Services adb shell voxl-inspect-services Ensure voxl-open-vins-server, voxl-vision-hub, and voxl-px4 are Running. 6.2 Check VIO in VOXL Portal Access the VOXL Portal (via IP address) and check the VIO (3D View): Orientation: Does the drone in the view verify Pitch/Roll/Yaw movements correctly? Position: Does the drone stay still in the view when the physical drone is stationary? (No drifting/divergence) 6.3 Check QGroundControl (QGC) Local Position: Is the drone icon visible on the map? Position Mode: Switch flight mode to Position. It should say "Ready to fly" or "Position mode enabled" (not "Rejected"). If you can enter Position mode without GPS, VIO is working. 7. Operational Best Practices Power On: After plugging in the battery, leave the drone static on a level surface for ~30 seconds. This allows the gyro to calibrate biases and services to start. Initialize VIO: Pick up the drone and move it in a large figure-8 motion to excite the IMU and cameras. Pre-flight Check: Do not take off until you can successfully switch to Position mode in QGC. Note: If initialization fails (rarely), perform a reboot. 8. Troubleshooting Q. Cannot enter Position Mode on the ground ("Not Ready") A. Check the following: Run voxl-inspect-pose vvhub_body_wrt_local to see if VIO data is streaming. If no data, perform a hard reboot (battery pull) to fix timestamp sync issues. Set en_voa to false in voxl-vision-hub.conf to disable obstacle avoidance (can cause extrinsics errors). Ensure vio_pipe is set to ov.

@Zachary-Lowell-0 after turning off open-vins and rebooting it works. thanks!

@rnunna at this point I would recommend either creating a python or cpp script that leverages mavsdk to probe the logs and get it into the format you are desiring. Zach

@jared-upshaw the voxl mini also runs the flight stack, so ensure if you are leveraging the flight core v2 and plan on using the voxl2 mini purely for onboard compute, that you disable voxl-px4 on the voxl2 mini as to not get conflicting mavlink messages (serially connect the two over a uart) As for camera setup, please find the link to the documentaiton on which cameras work with the voxl2 mini and how to wire them up! https://docs.modalai.com/voxl2-mini-image-sensors/

@Alex-Kushleyev Gotcha, thanks!