@bendraper We use Google Fi data SIMs for all of our testing

@paynej Hi, I know this is very old topic. Did you manage to find a solution (or reason) yet?

@Mohammad-Goli I had a really hard time building it. This is basically what I did: [image: 1737588525707-mavsdk.png] I had to manually build it. After that, I just followed the instructions and this is what I got, but I found an error at the end. [image: 1737588622237-mavsdk2.png] I had to use this command to be able to import the image: cat /data/tmp/voxl-mavsdk:v1.2.tar.gz | docker import - voxl-mavsdk:v1.2 But now I can't run it. Hopefully, someone on here can help with this.

@bkim1301 I would start by connecting the VOXL 2 UART 7 to a PC with a serial to USB cable. Make sure you can communicate back and forth using that setup and then do the same with the Teensy before connecting the Teensy and the VOXL 2 together. It's often very helpful to use an oscilloscope on the rx / tx lines to verify that there is actually data flowing.

@Zachary-Lowell-0 I am not sure how I resolved this, but as far as I remember there was px4_msgs versioning issue where I wasn't using either the correct ones or something

@Jetson-Nano Instead of listening to the input_rc topic with the listener function you can now monitor the RC_CHANNELS Mavlink message from the FC v2.

Unsure, if you have resolved this so I am going to attempt to help but I am going to need more information if possible. I am unsure how the setup is for the drone seems like you have one camera (Tracking_rear) pointed straight backwards and two cameras (Tracking_front, Tracking_down) facing forward at a 30 degree downward angle? I am not sure that you are showing with the log output. Have you tried hand testing using the command voxl-inspect-pose -l and seeing how RPY and translational movement (moving the drone up, right, forward) are behaving for the local frame?

@Jacob-Camarillo @wilkinsaf Hi guys, I tested turtle mode out with internal FC and it is working. Now I have updated the system with Flight core V2 external FC, and I would like to achieve the same with this configuration. could you help me out here. Since we can not use px4-listener anymore. I am bit confused with what approach to go take.

@Kessie Not exactly, but the important data to retain lives in /data/ or /data/modalai The SDK flash will attempt to retain this partition, but in certain cases it requires a wipe. I would take note of /data/modalai/sku.txt as well as pull off any calibration files in /data/modalai, you can see if you have any onboard currently by running voxl-check-calibration If you have this data saved you'll have no issue getting back to your previous state, I can help guide you through it if you run into any issues.

@czarsimon When you run through the QDL process how long does it take for the flash to finish? seconds? minutes? Also, are you able to ADB onto functional devices on this machine? Want to rule it weird permission issues

@Jia-Wan Yes, you should be able to do your testing with SITL before trying it on Starling.

@Eric-Katzfey Thank you so much

@jedeloya Can tolerate wind gusts of 15 m/s https://docs.modalai.com/starling-2-max-datasheet/

@Mouhamed-Ndoye What is the interface to control these propulsion units? Is it standard PWM? VOXL does not have a flight controller integrated, it is only a companion computer. But VOXL 2 and VOXL 2 mini support either PX4 or ArduPilot. They, however, do not have any PWM outputs. You would need to use our VOXL 2 Digital IO expander board (https://www.modalai.com/products/voxl2-io?variant=40610514206771) in addition to the VOXL 2 to get that added capability.

@tkddnjs825 , since you already have M0062, you should be able to use it. As you already identified, J9 on M0062 has /dev/ttyHS2 Linux UART device. You can also find more information here : https://docs.modalai.com/voxl2-external-flight-controller/ regarding configuring mavlink server. It looks like you are doing the right things here. However, the use case for "autopilot_uart_bus" maybe different from what you need - in your case your autopilot (px4) is actually on VOXL2 and the uart connection is for the path to GCS. You may need to modify mavlink server depending on what you want to pass on this UART connection.. This goes beyond my knowledge of mavlink server - please try to see if you can get it to work, otherwise post a follow up question with details of what you would need to be sent using the UART connection. Alex

Hi @scosgrove, Thanks for the details. On the DSP there is a dedicated HW block for each UART (similar for the UARTs connected to the application processor). All the UARTs supported on DSP have hardware FIFOs. Since you asked about the size: DSP UART2 has 64-byte low level FIFO on RX DSP UART6, 7 have 128-byte low level FIFO on RX When fifo is close to filling up, there is an ISR that triggers on the DSP which transfers the data from FIFO to other memory, and then the data propagates to the user. I wonder if there is some issue when fifo is read while another byte is incoming into fifo at the same time. Which uart port are you using for this test? I can do some testing with bursts of 70-250 byte packets. In the past we have tested continuous data transfers of several KB but not at high rates. Also, what baud rate are you using now? Alex

Agreed! thanks for noticing, Tom. Definitely should be tested on a recent SDK.. Alex