Hi @Roya-Salehzadeh, Yep, the points showing up in voxl_mapper_aligned_ptcloud are static (ie. not tied to the vehicle's current pose) I've never tried to do that so I'm not 100% sure but recording the points with a ros2 bag seems like a reasonable approach 3a. I'm not sure why you would need to do any transformation to plot the data on RViz. Voxl-mapper already does transformations to put the data in a static frame of reference. If you're only seeing it as a live stream this is probably because it's playing one message one after the other. I'm not sure but there might be a setting in RViz to ignore the timestamps or you could potentially do something like set all the timestamps to 1. 3b. Voxl-mapper uses the tof data to generate the map. What are you trying to do by visualizing the tof data? 3c. For visualizing the path I'm not sure if you would need to do transformations or not. This is the line that digests the pose data in voxl-portal. After a little investigating it seems like the /world might be the correct frame_id. If it were me, I'd start by getting the accumulated map on RViz then plot the odometry inside that map with the /world frame_id and then check if you need to do any additional transformations. @brahim what're your thoughts on the RViz frame_id for odometry? Let me know if that helps, Ted

@Daniel-Rincon Yes, please start a new post for the VIO question

@constantines Unfortunately, the PX4 Mavlink module is only running on the applications processor (Linux) and not on the DSP side. Mavlink would have to be added to the DSP PX4 build.

@Avery-Cuevas Yes, the VOXL powers up and I've tried using different USBs and still no result. I even tried reflashing the system, but it won't detect fastboot and adb devices

@Inverse-AJ @rogerli Hi, I also struggled with the OBSTACLE_DISTANCE MAVLink message not appearing in the MAVLink Inspector. Moreover, obstacle avoidance was not functioning after I upgraded v1.3.5 to ModalAI SDK v1.5.0. If you're experiencing this issue, ensure the following: Set MPC_POS_MODE to 0 (Simple Position Control) or 3 (Smooth Position Control). The default value (4, Acceleration-based Input) is incompatible with ModalAI’s VOXL platform. Set COM_OBS_AVOID to 1. This enables obstacle avoidance in PX4. Set CP_DIST to a value greater than 0. This specifies the critical distance for collision prevention. Ensure your drone has a valid home position or local position from QVIO. This is required for proper navigation. Ensure your drone is in Position Hold mode. Obstacle avoidance requires this flight mode. Although the OBSTACLE_DISTANCE message does not appear in the MAVLink Inspector, QGroundControl displays the obstacle distance overlay in its telemetry view, and the drone successfully performs obstacle avoidance. Note: This applies to ModalAI SDK v1.5.0; check for updates in newer versions. [image: 1753088579973-f0d0fe9f-61ff-4287-9210-186dafc0879a-untitled.jpg]

@garret Here's the source code for our branch of Gazebo: https://github.com/modalai/PX4-SITL_gazebo-classic/tree/voxl-dev

@Alex-Kushleyev Thanks again for the help. Unfortunately as it turns out, even though I have a Boson 640+ FLIR told me that the version I have is right before they started providing the MIPI output. I can still use the UVC interface, but it doesn't look like the Boson+ that I have can use the MIPI adapter after all. I don't know that many others will have my problem, but you guys might want to note that only the newest version of the Boson camera will support the MIPI adapter kit (https://flir.custhelp.com/app/answers/detail/a_id/6245/~/flir-oem---boson-software-versions). Matt

Sorry If i have asked the wrong question. I don't have much experience. Any help is appreciated.

@Alex-Kushleyev I'm unfortunately still seeing the same result with no cameras being detected from voxl-camera-server -l. I've tried J6 with the Lower slot on M0084 and the appropriate camera config which loads the correct .bin file to /usr/lib/camera/. I get the same result with both the AR0144 and the OV7251. Though I do hear the OV7251 when it's connected. Any other ideas you have to try other than replacing the M0084 connection cable?

@Yufei-Jiang What hardware are you using? Is this PX4 running on VOXL 2?

@george-kollamkulam Great just wanted to make sure there wasn't any other issue.