@tom i figured it out thank you

@Moderator This is appreciated, I had however already seen these docs. My issue is that though you have a 15cm extension that does not account for the orientation of the Voxl2 in relation to the sensor and location to mount them. due to this the 15cm connector is not long enough. Is there any advice on how we can extend these sensors beyond these lengths? Is there some shielding or other potential signal boosting we can do? Our goal is to eventually be able to position the sensors further away from the voxl2 as we want to use the hardware on much larger platforms where the rear sensors will need to be further than our current test development. TIA for any insight.

So something that I was seeing while testing this was having a bit of instability with Open VINS flying and altitude flying (Not Using VFC). I was seeing that voxl-open-vins-server stated that the IMU temperature was too high and kept resetting. After letting the VOXL2 cool down for a day I was able to have the Drone Fly in VFC mode but not sure how it flew compared to Position mode using VIO.

@Andrew-Martin You can check your camera calibration files with voxl-check-calibration If you see any missing I can likely locate them and send them over to you

@Jetson-Nano VOXL 2 does not have PWM out. You would need our IO expander board M0065 to bridge between UART and PWM. https://www.modalai.com/products/voxl2-io?variant=40610514206771

@Alex-Kushleyev Thank you for reverting back.

@zauberflote1 @Cliff-Wong @James-Strawson guys, can you help me with the error mentioned. now i have an another error where, if I arm the drone, the vio is drifting, and i can see the values increasing without any movement. what would cause this kind of errors, earlier the drone was flying fine, then it started drifting, even when just armed.

@Muqing-Cao You can get the VIO data from the ROS1 and ROS2 Topic /ov_overlay , /ov, or /qvio depending on which VIO you are using. Both have the same type interfaces available so either should work. Yes, you will be able to get run the commands on a host computer and as long as they are on the same ROS_DOMAIN_ID, for ROS2 this should be automatic.

@Eric-Katzfey Thanks for that. I had to start the qvio server and mavlink servers. Also, had to connect the flight controller to qgroundcontrol using the makeshift cable. The RC connection also works fine. Wondering what are the functionalities since the product is reaching its EOL and no new upgrades would be coming in terms of autonomous applications and PX4 integration. Thanks.

@Alex-Kushleyev I set the "ae_mode" to "off" and it works! thank you

@Alex-Kushleyev Thank you so much for the detailed explanation! I will keep you posted with the update shortly.

@Eric-Katzfey Very sorry for the late response and thank you for pointing out the mavlink-router approach, https://github.com/mavlink-router/mavlink-router. I will try it and keep you posted here. Thank you for answering my quesiton.

@george-kollamkulam Here's voxl-logger https://docs.modalai.com/voxl-logger/ which you can use to record data. if you need to access the data real-time, that's a good source code starting point for how to capture the data into your application

@nicksheldon Hadron 640R support is in beta. You can request a custom invoice for the adapter at https://modalai.com/contact We have no experience with Herelink. The modems we have support for MVX, Doodle Labs, Cellular and Wifi You cannot use HD Zero to send video from VOXL 2 The software is all open, so if you need to send custom gimbal commands you may need to update the software VIO cameras need to be fixed mounted with the VOXL 2 and cannot be on a gimbal

@KnightHawk , the definition is in libmodal-pipe library. https://gitlab.com/voxl-public/voxl-sdk/core-libs/libmodal-pipe/-/blob/master/library/include/modal_pipe_interfaces.h?ref_type=heads#L202 Alex

@Andrew-Jue Hi! Could you share how you managed to get your VOXL2 working with motion capture? Did you also use Starling 2 or just a VOXL2 on another platform? It looks like I ran into the same problems as you while trying to get my Starling 2 (also using VOXL2) to position hold with an Optitrack setup I tried following your troubleshooting steps and replicating your params exactly, and while it seems like it can be toggled into position hold, it doesn't hold its position at all. It just kinda flies off away as soon as I switch it into position hold. I did a screen recording of the outputs of /mavros/vision_pose/pose and /mavros/local_position/pose during flight and noticed that the values for these topics diverges and converges seemingly randomly Before flight (Left: /mavros/vision_pose/pose, Right: /mavros/local_position/pose) [image: 1749637505344-24e5cb61-9e40-464e-8941-6c60f804f9b4-screenshot-from-2025-06-11-18-24-58.png] During pos hold (Left: /mavros/vision_pose/pose, Right: /mavros/local_position/pose) [image: 1749637677085-73806f5a-aef4-44f7-9cda-90fa7cd39789-image.png] I reviewed the flight logs and it does look like something is commanding it to move away from its position for some reason. [image: 1749637827946-9df2c832-cb27-4fee-af22-ed7b037e9351-image.png] My theory is that the usb wifi on the Starling2 might be introducing some latency that is causing it to fly erratically, although the visual odometry latency seems fine (I think) [image: 1749637999076-f8abeff3-8923-4ead-a9c6-b6a2134ad612-image.png] Do you have any hints as to what the problem might be? These are the changes I made to switch the Starling 2 to receive data from the Optitrack system: In /etc/modalai/voxl-vision-hub.conf, changed en_vio to false { "config_file_version": 1, "en_localhost_mavlink_udp": true, "localhost_udp_port_number": 14551, "en_vio": false, "vio_pipe": "qvio", "secondary_vio_pipe": "ov", "vfc_vio_pipe": "ov", "en_reset_vio_if_initialized_inverted": true, "vio_warmup_s": 3, "send_odom_while_failed": true, "horizon_cal_tolerance": 0.5, "en_hitl": false, "offboard_mode": "off", "follow_tag_id": 0, "figure_eight_move_home": true, "robot_radius": 0.300000011920929, "collision_sampling_dt": 0.1, "max_lookahead_distance": 1, "backtrack_seconds": 60, "backtrack_rc_chan": 8, "backtrack_rc_thresh": 1500, "wps_move_home": true, "wps_stride": 0, "wps_timeout": 0, "wps_damp": 1, "wps_vfc_mission": true, "en_tag_fixed_frame": false, "fixed_frame_filter_len": 5, "en_transform_mavlink_pos_setpoints_from_fixed_frame": false, "vfc_rate": 100, "vfc_rc_chan_min": 980, "vfc_rc_chan_max": 2020, "vfc_thrust_ch": 3, "vfc_roll_ch": 1, "vfc_pitch_ch": 2, "vfc_yaw_ch": 4, "vfc_submode_ch": 6, "vfc_alt_mode_rc_min": 0, "vfc_alt_mode_rc_max": 0, "vfc_flow_mode_rc_min": 0, "vfc_flow_mode_rc_max": 0, "vfc_hybrid_flow_mode_rc_min": 0, "vfc_hybrid_flow_mode_rc_max": 0, "vfc_position_mode_rc_min": 0, "vfc_position_mode_rc_max": 2100, "vfc_traj_mode_rc_min": 0, "vfc_traj_mode_rc_max": 0, "vfc_yaw_deadband": 30, "vfc_vxy_deadband": 50, "vfc_vz_deadband": 150, "vfc_min_thrust": 0, "vfc_max_thrust": 0.800000011920929, "vfc_tilt_max": 0.43599998950958252, "vfc_yaw_rate_max": 3, "vfc_thrust_hover": 0.5, "vfc_vz_max": 1, "vfc_kp_z": 5.2899999618530273, "vfc_kd_z": 5.9800000190734863, "vfc_vxy_max": 3, "vfc_kp_xy": 0.63999998569488525, "vfc_kd_xy": 2.559999942779541, "vfc_kp_z_vio": 5.2899999618530273, "vfc_kd_z_vio": 5.9800000190734863, "vfc_kp_xy_vio": 3.2400000095367432, "vfc_kd_xy_vio": 3.9600000381469727, "vfc_w_filt_xy_vio": 10, "vfc_vel_ff_factor_vio": 0.899999976158142, "vfc_xy_acc_limit_vio": 2.5, "vfc_max_z_delta": 3, "vfc_att_transition_time": 0.5, "vfc_stick_move_threshold": 30, "vfc_flow_transition_time": 1, "vfc_q_min": 10, "vfc_points_min": 7, "vfc_en_submode_announcement": 1, "vfc_disable_fallback": false, "vfc_traj_csv": "/data/voxl-vision-hub/traj.csv", "en_voa": true, "voa_upper_bound_m": -0.15000000596046448, "voa_lower_bound_m": 0.15000000596046448, "voa_voa_memory_s": 1, "voa_max_pc_per_fusion": 100, "voa_pie_max_dist_m": 20, "voa_pie_min_dist_m": 0.25, "voa_pie_under_trim_m": 1, "voa_pie_threshold": 3, "voa_send_rate_hz": 20, "voa_pie_slices": 36, "voa_pie_bin_depth_m": 0.15000000596046448, "voa_inputs": [{ "enabled": true, "type": "point_cloud", "input_pipe": "dfs_point_cloud", "frame": "stereo_l", "max_depth": 8, "min_depth": 0.300000011920929, "cell_size": 0.079999998211860657, "threshold": 4, "x_fov_deg": 68, "y_fov_deg": 56, "conf_cutoff": 0 }, { "enabled": true, "type": "point_cloud", "input_pipe": "stereo_front_pc", "frame": "stereo_front_l", "max_depth": 8, "min_depth": 0.300000011920929, "cell_size": 0.079999998211860657, "threshold": 4, "x_fov_deg": 68, "y_fov_deg": 56, "conf_cutoff": 0 }, { "enabled": true, "type": "point_cloud", "input_pipe": "stereo_rear_pc", "frame": "stereo_rear_l", "max_depth": 8, "min_depth": 0.300000011920929, "cell_size": 0.079999998211860657, "threshold": 4, "x_fov_deg": 68, "y_fov_deg": 56, "conf_cutoff": 0 }, { "enabled": true, "type": "tof", "input_pipe": "tof", "frame": "tof", "max_depth": 6, "min_depth": 0.15000000596046448, "cell_size": 0.079999998211860657, "threshold": 3, "x_fov_deg": 106.5, "y_fov_deg": 85.0999984741211, "conf_cutoff": 125 }, { "enabled": true, "type": "rangefinder", "input_pipe": "rangefinders", "frame": "body", "max_depth": 8, "min_depth": 0.300000011920929, "cell_size": 0.079999998211860657, "threshold": 4, "x_fov_deg": 68, "y_fov_deg": 56, "conf_cutoff": 0 }] } In /etc/modalai/voxl-mavlink-server.conf, changed en_external_ap_timesync to 0 { "primary_static_gcs_ip": "192.168.8.10", "secondary_static_gcs_ip": "192.168.8.11", "onboard_port_to_autopilot": 14556, "onboard_port_from_autopilot": 14557, "gcs_port_to_autopilot": 14558, "gcs_port_from_autopilot": 14559, "en_external_uart_ap": false, "autopilot_uart_bus": 1, "autopilot_uart_baudrate": 921600, "autopilot_mission_delay_start": -1, "autopilot_mission_delay_sound": false, "autopilot_mission_notif_dur": 0.1, "en_external_ap_timesync": 0, "en_external_ap_heartbeat": 1, "udp_mtu": 0, "gcs_timeout_s": 4.5 } In vrpn launch file, remapped vrpn_client_node to mavros/vision_pose/pose with 30Hz update frequency Disabled QVIO and ovins Changed PX4 params: EKF2_EV_CTRL to 11, EKF2_EV_QMIN to 0 voxl2:/$ px4-param show ekf2_ev* Symbols: x = used, + = saved, * = unsaved x EKF2_EVA_NOISE [292,568] : 0.1000 x EKF2_EVP_GATE [293,569] : 5.0000 x EKF2_EVP_NOISE [294,570] : 0.1000 x EKF2_EVV_GATE [295,571] : 3.0000 x EKF2_EVV_NOISE [296,572] : 0.1000 x + EKF2_EV_CTRL [297,573] : 11 x EKF2_EV_DELAY [298,574] : 0.0000 x EKF2_EV_HGT_TO [299,575] : 5000 x EKF2_EV_NOISE_MD [300,576] : 0 x EKF2_EV_POS_TO [301,577] : 1000 x EKF2_EV_POS_X [302,578] : 0.0000 x EKF2_EV_POS_Y [303,579] : 0.0000 x EKF2_EV_POS_Z [304,580] : 0.0000 x EKF2_EV_QMIN [305,581] : 0 829/2162 parameters used. Launched mavros with ModalAI's mavros launch script

@Jetson-Nano you could just use the CPP mavsdk instance to grab the TOF data from a MPA pipe and then leverage that to do your controls via mavsdk (I am assuming just offboard movement). You can connect over port 14551 just ensure you have localhost comms set to true in voxl-vision-hub.