@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.

@yardy In order to update the kernel variant without re-installing the whole SDK, please follow these instructions: cd <voxl-sdk-release>/system-image # reboot voxl2 into fastboot mode adb reboot bootloader # flash VOXL2 kernel variant 0 fastboot flash boot_a m0054-1-var00.0-kernel.img fastboot flash boot_b m0054-1-var00.0-kernel.img fastboot reboot # OR flash VOXL2 kernel variant 1 fastboot flash boot_a m0054-1-var00.1-kernel.img fastboot flash boot_b m0054-1-var00.1-kernel.img fastboot reboot You can also test the kernel without overwriting it (the original kernel will be retained after voxl2 reboot: adb reboot bootloader fastboot boot m0054-1-var00.0-kernel.img # OR fastboot boot m0054-1-var00.1-kernel.img The latter method is useful when you are not sure if the kernel you are about to try actually works (when you are experimenting with building your own kernel) - you can try the new kernel without the risk of temporarily bricking your board. Alex

@Yufei-Jiang And I used voxl-configure-cameras and voxl-configure-extrinsics D0006_Sentinel to generate the camera config.

@george-kollamkulam That port is internally connected to the 5V coming from the main VOXL2 power (which is technically 5V 6A). Obviously you would be limited by the connector pins, which are rated around 1A max continuous. Also, drawing too much from this pin, can bring down the whole VOXL2 (if that 5V output on J19 is shorted to GND, for example).

@tom I managed to get ADB working and have reinstalled the VOXL. I went for 1.1.2 version as wanted to see if previous issues i had with both 1.2.0 and 0.9.5 would be present. As of now I am able to ADB to the drone, as well as ssh, with it using the AP mode however my QGroundControl does not see the drone. I have changed within the voxl-mavlink-server.conf the secondary ip address to the one that PC has when connected to the drone IP, and the following services are running. But QGroundControl does not seem to see the connection. These are the following commands and their outputs. The one VOXL version which worked the best on the VOXL 1 board was 0.9.5 but after updating and switching both between AP mode and connected to Wifi router, there is no responce to the connection. When checking messages send to QGC the terminal is stopped at the step of the screenshot. [image: 1749160480307-screenshot-from-2025-06-05-14-27-27.png] [image: 1749160492877-screenshot-from-2025-06-05-14-45-16.png] [image: 1749160499074-screenshot-from-2025-06-05-14-46-00.png] [image: 1749160504563-screenshot-from-2025-06-05-14-46-45.png] [image: 1749160509611-screenshot-from-2025-06-05-14-49-23.png] [image: 1749160514806-screenshot-from-2025-06-05-14-50-21.png] I went through the setup process few times and am unsure what could be the issue or what to try next. The QGC version is v4.4.5 In case I can create new thread for this but been trying to get two Seeker drones operational. Thank you for your time and assistance. Sincerely Adam Nekolny