Hi @Tamas-Pal-0 , Sorry there's a typo in the docs I will fix now, but here's where the files live: voxl2:/$ find / -name *.mix /usr/lib/rfsa/adsp/quad_x.main.mix /usr/lib/rfsa/adsp/quad_x_io.main.mix The mixer and PX4IO drivers run on the DSP and this is the location for it's 'file system'.

@Daniel-Ryu The stereo sensors' lens can be adjusted which will change their focus. Looking at the videos you provided it seems to me that you should be able to achieve a lower reprojection error if you adjust the focus on the units. It looks like the VOXL1 is getting a better reprojection error number because the cameras are fairly close to in focus and there isn't much blurr/fuzz in the video stream. On your VOXL2 setup it looks to me that either the camera is out of focus or the lens is dirty. To adjust the focus on our stereo cameras twist the lens housing clockwise or counterclockwise similarly to how you would on a DSLR lens. Look closely at the stereo cams and you will see 4 flat edges. I recommend using a 6mm wrench to engage 2 of the flat edges; from there you'll be able to rotate and adjust the lens as needed. It is possible to use something like tweezers or small pliers to accomplish this however I recommend against that method because it is too easy for the tool to slip off and end up scratching the lens. To clean the lens I recommend using a clean microfiber cloth, a lens tissue, or a fresh q-tip

@Ed-Sutter Good catch, does look like that print statement is never reached, I'll move it to the correct location to avoid future confusion.

@Chad-Sweet Yep, that's likely what we'll have to do... Tx

Thanks for the quick response. This helps a lot!

I'm looking to use a parameter which was introduced in PX4 v1.12. So I'm also interested in when PX4 v1.12 for VOXL Flight will be released. Do you have any estimate on that?

@Vinny ok, thanks again..

@Ed-Sutter There is more to it than on the surface, as our SW team has gone to great lengths to figure out how to prevent corruption, so I still think it's the correct thing to follow as per that link, but we do need to educate users on the differences. Adding some type of hardware level button and "safe to remove" indicator has been in discussion for years, but the practical implementation of that (since for most use cases, we'd want it different than a smart phone) leads to a whole bunch of low-level work that may not actually succeed. These chips "think" they are in a phone, no matter what we do, so we try to work around it the best we can. I know the team still thinks about this... maybe we'll get a clean solution one of these days.

Hi, voxl-camera-server requires voxl-cross >=v2.0. This includes the proprietary packages built in, which contain some hardware specific headers and libs (like android's liblog, not voxl-logger). As for APQ camera server vs voxl camera server, The builds for the two platforms used to be separate but we managed to merge them in together recently and are working out the last few kinks in the unified voxl-camera-server, after which we will deprecate the apq specific one.

@Anton-Gereles Try to upload these parameters - https://gitlab.com/voxl-public/flight-core-px4/px4-parameters/-/blob/master/helpers/m500/ekf2_indoor_vio.params This will allow you to fly outdoors without GPS using VIO. I think this is what you are looking for? https://docs.modalai.com/flying-without-gps/

@Ed-Sutter Thanks! Always better to start a new thread for a different question.

Here is the log: -- Logs begin at Thu 1970-01-01 00:01:35 UTC, end at Thu 1970-01-01 00:03:25 UT C. -- Jan 01 00:01:37 apq8096 systemd[1]: Started voxl-vision-px4. Jan 01 00:01:38 apq8096 voxl-vision-px4[2018]: ERROR validating VIO data receiv ed through pipe: read partial packet Jan 01 00:01:38 apq8096 voxl-vision-px4[2018]: read 156 bytes, but it should be a multiple of 324 Jan 01 00:01:38 apq8096 voxl-vision-px4[2018]: ERROR validating VIO data receiv ed through pipe: read partial packet Jan 01 00:01:38 apq8096 voxl-vision-px4[2018]: read 156 bytes, but it should be a multiple of 324 Jan 01 00:01:38 apq8096 voxl-vision-px4[2018]: ERROR validating VIO data receiv ed through pipe: read partial packet Jan 01 00:01:38 apq8096 voxl-vision-px4[2018]: read 156 bytes, but it should be a multiple of 324 Jan 01 00:01:38 apq8096 voxl-vision-px4[2018]: ERROR validating VIO data receiv ed through pipe: read partial packet Jan 01 00:01:38 apq8096 voxl-vision-px4[2018]: read 156 bytes, but it should be a multiple of 324 Jan 01 00:01:38 apq8096 voxl-vision-px4[2018]: ERROR validating VIO data receiv ed through pipe: read partial packet Jan 01 00:01:38 apq8096 voxl-vision-px4[2018]: read 156 bytes, but it should be a multiple of 324

Thank you!

Yes it should work -- I haven't explicitly tried pointing directly downwards myself. https://docs.modalai.com/flying-without-gps/ has some insight and a nice video about the subject of using VIO outdoors. It does work at 45* reasonably well especially with enough altitude to pick out features.