@Paul-Handrigan , please see this post, depending on which board you have (M0054 or M0154), it may not be possible to use GPIO 46 as input : https://forum.modalai.com/topic/4200/issue-reading-gpio-1146-pin-6-on-j10-on-voxl2

@nekolny , please check this post: https://forum.modalai.com/topic/3232/disable-gps-and-compass you can disable GPS by unplugging it or edit /etc/modalai/voxl-px4.conf and set GSP=NONE , but you also need to set the following params to tell EKF to not use the compass if you unplug the gps module (which has compass on it) SYS_HAS_MAG to 0 EKF2_MAG_TYPE to 5

@Maanav-Iyengar , you can try to move the camera to J6L and use sensormodule with ID 0. If that does not work, then the issue is most likely not in VOXL2, but somewhere upstream (M0135 or farther up) If you have another camera, you can try plugging it in instead of IMX412, so this would test the M0135 + M0036 path. Any camera would do, but you would just need to set up the correct sensormodule . If you use any other camera for testing, which already has a flex on it (unlike M0107 IMX412), then you can skip the M0036 extension flex (you can test with and without it). If you use tracking camera, keep an eye on pin1 orientation, as it is backwards compared to hires cameras. Alex

@swickliff No, it hasn't. Supposedly all of this is fixed in latest mainline but we haven't tested it. But we do have a mainline build available to try: http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/voxl-mainline-px4_1.16.0-1.0.0-202502271326_arm64.deb

@claw Not at this time as ROS2 takes up a lot of space so we don't include it by default

@James-Strawson "takeoff_cam": Tells OpenVINS which camera to use for takeoff. This should be a camera where "is_occluded_on_ground" is set to false in vio_cams.conf. Besides this setting, what else needs to be configured?

Nevermind, was being talked about in https://forum.modalai.com/topic/4121/compass-errors

@Jeremy-Frederick , please check the following: try explicitly stopping PX4 before scanning for the ESC using voxl-esc python tools : systemctl stop voxl-px4 try another 4-pin uart cable, if available test another ESC the same way, if available Was this ESC + board combination working before at stopped working? Alex

@Bernhard @James-Strawson @Zachary-Lowell-0 @Alex-Kushleyev @nuallaino I have a brand new Starling 2 Max (received 3 days ago), and I'm having the same problem described by nuallaino and Bernhard (no GPS even when outside for a long time). My system info and results of px4-listener are pasted below. I did unplug the Lepton 8-pin JST SH connector as suggested by James Strawson, but that had no effect. Everything else seems to work fine (haven't tried 5G comm yet), but I'm hesitant to fly without GPS functioning properly, so at this point I'm stuck. Any suggestions would be most welcome. Thanks for your help ! system-image: 1.8.02-M0054-14.1a-perf kernel: #1 SMP PREEMPT Mon Nov 11 22:47:44 UTC 2024 4.19.125 hw platform: M0054 mach.var: 1.0.1 voxl-suite: 1.4.1 current IP: wlan0: 10.0.0.19 voxl2:~$ px4-listener sensor_gps TOPIC: sensor_gps sensor_gps timestamp: 841732144 (0.020669 seconds ago) timestamp_sample: 0 time_utc_usec: 0 device_id: 11272245 (Type: 0xAC, SERIAL:6 (0x00)) lat: 0 lon: 0 alt: -17000 alt_ellipsoid: 0 s_variance_m_s: 999.00006 c_variance_rad: 3.14159 eph: 4294967.50000 epv: 3796926.25000 hdop: 99.99000 vdop: 99.99000 noise_per_ms: 64 jamming_indicator: 15 vel_m_s: 0.00000 vel_n_m_s: 0.00000 vel_e_m_s: 0.00000 vel_d_m_s: 0.00000 cog_rad: 0.00000 timestamp_time_relative: 0 heading: nan heading_offset: 0.00000 heading_accuracy: 0.00000 rtcm_injection_rate: 0.00000 automatic_gain_control: 0 fix_type: 0 jamming_state: 0 spoofing_state: 1 vel_ned_valid: False satellites_used: 0 selected_rtcm_instance: 0 voxl2:~$ px4-listener sensor_mag TOPIC: sensor_mag sensor_mag timestamp: 861420482 (0.006257 seconds ago) timestamp_sample: 861420007 (475 us before timestamp) device_id: 527625 (Type: 0x08, I2C:1 (0x0D)) x: -0.04417 y: -0.32142 z: 0.42167 temperature: nan error_count: 0 voxl2:~$

@tkddnjs825 , Can you please run “voxl-camera-server -l” and look at the very top to see which cameras have been detected (this is regardless of what you enable in camera server config). We first want to make sure all the cameras are correctly detected (should be 4 cameras). You could past the first part that lists detected cameras, their ids and slot numbers.

@Moderator Thank you!! We are looking to build a thermal drone with a docking station for security response and patrols. Two questions, do you have a model recommendation for us to use/start with and do you of anybody already working on a dock? Don't want to reinvent the wheel if we don't have to, but will if necessary. Thank you for any feedback!

@jonathankampia Unfortunately, the hard part is creating the build Docker.

@modaltb This simplest fix for us was to just change the hardcoded 'C' to a hardcoded 'A' and rebuild the deb. It's not the "proper" solution, but it should let us fly legally.

@장성원 It only works on VOXL and VOXL 2 You need to use the board to board connector You can fly in manual mode with an RC controller. ModalAI does not offer an RC transmitter integrated with display.

@jameskuesel , Can you please provide a bit more detail about your test -- when you enable M0161, how exactly do you test it? Do you view the images using voxl-portal? and if so, how is your starling2 connected to the network? If you are using the wifi dongle, then we have noticed that moving the wifi dongle away from the GPS antenna helps reduce interference. You can test if the interference is still present by unplugging the wifi dongle completely from usb port and use voxl-inspect-cam test application to make sure the camera is running (inspect the same camera stream that you were previously viewing). Also, please let me know what resolution / FPS you are testing the camera at. Regarding the MIPI clock rates, i would need to double check, but i believe the IMX412 driver uses 1.5Gbps MIPI bit rate, which is close to GPS L1, but not really close that it would cause interference. We can definitely try different bit rates to see if it helps reduce EMI (if that is indeed the case), but let's first rule out the potential wifi dongle issue. We have ability to change the MIPI clock rate in quite a wide range, but this will require a different sensormodule driver for the camera, which I would need to provide to you. Another thing, we recently found that the Starling Front End M0173 board may cause GPS interference via the Lepton connection, so if you have that plugged in, please unplug and see if that helps with GPS signal. Lepton needs 25Mhz clock, so one of the harmonics could hit exactly GPS L1 at 1575Mhz. Alex