@Zachary-Lowell-0 Yes I installed voxl-ros2-foxy. This time I just tried "source /opt/ros/foxy/mpa_to_ros2/install/setup.bash" and that was accepted. However, looking now px4_msgs is still not recognized within my program. [image: 1745358768903-73d768a7-bab0-42d9-b73e-b4e84749294a-image.png]

@Alex-Kushleyev Hi @yardy Are you using the jumper blocks J14.15/J14.17 to JP1.10/JP1.12 respectively for QUP_19? It was connected to JP1.9/JP1.11 (because of the jumpers... I was wrong) It's working! Many thanks

@inteous yes, there are a number of considerations Please see: https://docs.modalai.com/configure-extrinsics/ https://docs.modalai.com/calibrate-cameras/

@FIREBIRD Sure, reach out at https://modalai.com/contact Yes, it's supported in production volumes

it's more likely I will be commanding attitude / body rate which are already available Indeed. I highly suggest you to use those two unless your application stricly requires direct actuation control. I just wanted to get a clear overview of what the information dds client / agent can give me access to in the modalai version of px4. By editing src/modules/microdds_client/dds_topics.yaml you can access any PX4 uorb message so the limit here is just about what has been implemented on PX4 that is or is not available in the voxl version. How do you know what types of control / input & output data are not directly supported in px4 voxl version, as you said? the type of offboard control you can achieve is exposed by OffboardControlMode.msg. As you can see in main PX4 you have bool position bool velocity bool acceleration bool attitude bool body_rate bool thrust_and_torque bool direct_actuator I've added thrust_and_torque and direct_actuator one year ago (more or less). However, latest voxl is still using the old version: this old version let's you control via thrust and torque setpoints but does not let you control the single motor individually.

@jonathankampia Correct, The VectorNAV needs to have the serial port implementation changed to support SLPI. That can either be done by modifying the code on our branch or going to mainline PX4 and modifying the implementation to use the platform independent Serial port abstraction.

@nekolny You should be able to use voxl-mavlink-server --help to see the various debug options available. You can stop voxl-mavlink-server from running as a service and then start it manually from the command line with the desired debug options to see which messages it is getting from the autopilot and what it is sending to QGC (and vice-versa). Then you can also use tcpdump to look at the IP traffic on both VOXL 1 and the QGC computer to see which messages are being sent.

@nekolny , you should use a linux PC to run voxl-esc tools in order to connect to the ESC and check / update the ESC firmware. VOXL1 does not have support for voxl-esc python tools to communicate directly with the ESC. Alex

@Ege-Yüceel You can find our warranty information at https://www.modalai.com/warranty You can find the STEP file for the design here: https://docs.modalai.com/starling-2-datasheet/#starling-datasheet Starling 2 replacement parts can be found here: https://www.modalai.com/products/starling-2-replacement-parts If there is a part you need, we can make it available for purchase.

@jcai, I just tested this. I do see that "Removed 1 sessions" message comes in after ~1 min after the first disconnect, but my second session is not interrupted when this happens. Please make sure you are using the latest version of voxl-streamer (you can try from nightly dev build). Also, something to double check, whether the two sessions are coming from the same or different port (maybe if you are using vpn or something, there new session starts from the same client port). Alex

@Vinny As per the parameters you provided, this sensor cannot operate at temperatures below 0 degrees Celsius. Thank you!

@tahawaru , you may want to investigate the PX4 documentation for using a motion capture system for flight : https://docs.px4.io/main/en/computer_vision/motion_capture.html . We have not done this type of testing, so may not be able to help. Alex

Hi @ashwin, Our ESC needs to be tuned for the motor / propeller in order to achieve the best performance. In some cases, without tuning, the performance will be very poor, as there is an expectation of the ESC parameters to match the actual motor + propeller. This is done to ensure consistent and responsive behavior of the ESC. If you are changing motor / propeller, you should perform the tuning procedure described here : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/master/voxl-esc-tools/calibration.md . Since you are using a 2S battery, you can start with the Starling ESC params (https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/master/voxl-esc-params/D0014_starling_1504_3000kv_ms_props/D0014_starling_1504_3000kv_ms_props.xml) and update the tuning parameters as instructed. Since you mentioned the sinusoidal spinup, not working properly, you will need to enter the correct kV value in to the ESC param file and may need to adjust the start-up power or target spin-up rpm. the voxl-esc tools come installed on voxl2 in /usr/share/modalai/voxl-esc-tools and the following are useful commands: make sure to stop voxl-px4 before using voxl-esc tools : systemctl stop voxl-px4 voxl-esc-scan.py will tell you which ESC firmware you are using - you should upload the latest, which is 39.20. voxl-esc-upload-firmware-all.sh script will autodetect the esc and upload the latest firmware to all 4 of the ESC channels voxl-esc-verify-params.py can be used to check which esc params are installed voxl-esc-upload-params.py can be used to upload new ESC parameters. Please let me know if you have any other questions. Alex

@Alex-Kushleyev Thank you for the reply Currently we are buying Voxl2 flight deck from you, I will be integrating in my drone after integrating what I need to do how to make it fly autonomously can you guide that how sdk works and how 3d map will be created how we need to plan a machine in the sdk

I resolved this issue with replacing indoor_vio.params with indoor_vio_missing_gps.params. Thanks!

@GlennTee Great!