Hi @nickyblanch Anytime. yeah, we had quite a bit of cables and mods to get to FCv2, but we think it's worth it, and now much more aligned with Dronecode and present/future hardware we make. FCv1 was a bit of a anomaly from it's early design inputs and constraints, so we do view FCv2 as much easier now to work with (if you are starting from scratch). We do have on our roadmap a much more "standard" drone mounting pattern w/o changing any other functions, but that effort keeps moving to the right... haha

@Ethan-Wu Not sure about Ethernet. UVC is specific to USB.

@Moderator Perfect. Thanks.

Hi @andrea_seock That set of connections does appear to be correct now. Keep us posted!

@Riccardo-Franceschini We were not able to resolve this issue. However because our control stack is sending TRPY commands to mavros, this didn't come into play at all. The concern for us originated when the drone was taking off significantly higher than commanded. It turned out the propeller coefficients we received from ModalAI were insufficient.

@modaltb Great to know. I needed at least 2.1 to get layer support for RAUC. Which I hope ModalAI will support RAUC or SWUpdate out of the box at some point. Or another framework for OTA updates.

@Vinny Oh, thanks for the advice!

@Alex-Kushleyev No. This was a test for the RTK GPS. I'll try.

@Ariel-Saez Can you describe your hardware setup a bit more? Are you using voxl1 or voxl2? Are you using the Sierra 4G LTE add-on board?

@Isaac-Stephan-Remy I need you to still explain how you are sending data from the voxl2 to the parent computer - just because they are on the same wifi network doesn't mean that when you launch the ros2 node on the voxl2, and then run a ros2 topic list on your parent computer it will see those topics. There needs to be somewhere on your rpi or parent computer where you are probing the voxl2's ros2 instance whether you have sockets opened up, etc. Can you confirm that the voxl2 instance of ros2 is locally publishing - aka adb shell into another terminal instance of the voxl2 while the voxl-mpa-to-ros2 is actively running and try doing a ros2 echo TOPIC to see if it streams just fine locally - if it isnt, then that is your issue right there. Which topics are you actively trying to listen to as well? Do you have all the required services running? AKA voxl-imu-server, voxl-qvio-server, voxl-camera-server, etc. Can you post a screenshot of voxl-inspect-services Zach

@tom After 8 hours of grueling coding: https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-px4-params/-/merge_requests/11

@Alex-Kushleyev all is working now. Not sure what has changed but we are all set. Thank you for your help Alex! Stefan

@riteshsharma you are welcome. If the current approach initializes and works fine (is able to allocate all the buffers), the performance should be stable. I am a bit surprised so many buffers are needed for the encoder, there is probably some other settings in our software to change that... However since it is actually working with 11 buffers, maybe there is no need for me to test / fix that. If you do encounter any other issues, let me know..

@SMRazaRizvi Actually connecting my RTK-GPS to the configuration described here: https://docs.modalai.com/voxl2-guides-onboard-offboard-sensors/#external-gps-mag--gnss was not giving me RTK corrections so I am now using the J9 connector on the 5G modem, and that works fine in giving me GPS Coordinates and receiving RTK Connections. But another problem that I am facing is Compass Sensor 0 missing. Do you think there's some setting of the default compass that PX4 was picking up with the M8N GPS that came with the drone? Where can I configure the compass?

@tiralonghipol No, only within px4

@K-Stute I wish, but it is not.

@Moderator I have followed the build instructions and got the voxl-mavlink-server built. I'm currently testing it with different ports (other than 14550). Thank you for your support.

@aashry VIO and EKF2 are separate, concurrent state estimations. You can see where voxl-vision-hub sends the VIO data to PX4's EKF2 here: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-vision-hub/-/blob/master/src/vio_manager.c?ref_type=heads#L395 I'm not sure what mavros uses, but here is the mpa-to-ros code to publish VIO data https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-to-ros/-/blob/master/catkin_ws/src/src/interfaces/vio_interface.cpp?ref_type=heads#L151