I will close this ticket and make a new ones. This conversations is too long, sorry for that Thanks for help so far !

@Amin-Bassiri RB5 uses voxl-px4-imu-server . You can verify the IMU data with voxl-inspect-imu imu_px4

@utari_ais Since you're using a voxl1 px4 is running on the flight core not on the voxl itself like voxl2. Therefore there is no voxl-px4 service on voxl1

@tahawaru Here is some documentation on configuring VIO https://docs.modalai.com/flying-with-vio/ PX4 does not currently handle GPS and VIO concurrently. It is something that we have worked with the PX4 developers on for more than 2 years. It's a complicated problem though that we keep working to improve. To start experimenting, and hopefully helping to develop that feature, read through PX4's documentation on EKF2. To debug VIO, look to this area of the documentation specifically https://docs.modalai.com/flying-with-vio/#troubleshooting-vio

I tested AR0144 with M0036 flex in the configuration shown in picture below and it works. I also have the IMX412 camera attached with its own flex. The dual flex configuration is not ideal for plugging into M0135 due to flexes pointing towards each other after being connected to M0135, but for testing purposes it is OK. If you have AR0144 camera connected in the same way with the flex cable and the camera is not detected, then it seems like the flex cable is the issue. [image: 1712797006349-img_3942-resized.jpg]

@tom I had the same idea, so I directly installed Mavproxy and related packages on VOXL2, and successfully resolved the issue with the serial library. However, when running the service, I still couldn't import the Python files related to Mavproxy. Even adding the paths of those Python files to the environment variables didn't solve the problem.

@david-devassy Have you been following the documentation here: https://docs.modalai.com/voxl-mapper/#voxl-mapper?

@Darshit-Desai , i would say the best way to confirm storage order would be to print out the memory location of the vector’s 0th, 1st and 2nd element after you put it into eigen structure. You should be able to get the pointer using & operator and print out the pointer using printf(“%p”, ptr). If the 3 pointer values are separated by 4 or 8 (single or double precision), then storage order is optimal

@Morten-Nissov , great! You are welcome. Make sure to change that 1us scheduling interval to a more reasonable value

@Syed-Omair You might want to look into voxl-logger: https://docs.modalai.com/voxl-logger/ which is the tools we use to log data coming out of MPA pipes

@Alex-Kushleyev thank you. I've been following these instructions, but we i try to set up the radio using qgc, it says "radio not ready" and fails to bind, and the drone keeps beeping. am I not setting up px4 correctly?

NEVERMIND! I resolved the issue. Just had to do a systemctl enable voxl-dfs-server and then powercycle the drone. Hope this helps anyone in the future.

@Riccardo-Franceschini is there any chance that you could send me your docker image (or maybe the layers that are used to install the realsense "software")? I've been struggling to get the realsense in a ros2 docker working. The only think that worked for me is a docker image based on Alpine.

@ggiacalone Yes, this will have been flown before shipping. Any chance the Receiver was knocked loose somehow? Your description implies maybe a connection issue? Can you grab a screenshot of the QGC RC configuration? Maybe the protocol was changed somehow?

@frafrat , You would need to run voxl-camera-server that comes with SDK 1.2 . You can grab a deb package of recent voxl-camera-server but it has other dependencies, so other packages will need to be updated from sdk 1.2. it could be a mess, but you can try it. http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/voxl-camera-server_1.9.0-202403211533_arm64.deb when you install it, if there are unmet dependencies, dpkg will tell you. and then you will go down the rabbit hole to satisfy those dependencies and installing newer packages (you could do it by updating apt sources to use dev) : modify /etc/apt/sources.list.d/modalai.list to use dev instead of sdk-1.1 (and then apt-get update and then apt-get install <package> to get the newer version. Or you could pull the packages manually from voxl-packages site. I know for sure there is one dependency that is not in voxl-packages, which is the TOF processing library. I will check how you might be able to get it. Did you at least try to use the TOF sensor with SDK 1.2?

@camcam089 Hi, I am also trying to work on doing audio streaming over USB. I am curious if your code is open in github or somewhere else.