@Alex-Gardner Got it. Thank you!

We have the full toolchain and setup dockerized here: https://gitlab.com/voxl-public/rb5-flight/rb5-flight-px4-build-docker Following that setup, you will install the Hexagon SDK which provides more info on the lower level stuff. But, the PX4 code as shown above is what runs on the DSP.

The problem is solved. It was a hardware issue related to ftdi cable

The problem is solved. The problem was in FTDI cable. I changed the cable and it worked

@Yusuf-Saib If you do ifconfig on your host machine you will get the IP address of that, not of the VOXL. So in your output it looks like you are trying to ssh to yourself.

@Hector-Nevarez Problem solved, was hardware-related. Thank you for your help!

@Chad-Sweet @Adrian-Hidalgo @James-Strawson Everything is working now! THANK YOU so much for all your help!!!

VOXL comes in the VOXL-Flight configuration, which basically mates up an STM32 based flight controller (the Flight Core v1) with VOXL, then there's an internal UART connecting the two, and you can control the Flight Controller with 8-PWM outputs. VOXL2 does support (currently in beta) the VOXL2 IO board which provides PWM outputs, and we've used it on a hex. See here for info on that use case. Again, this is in beta (not directly in the VOXL SDK at this point but in the dev channel). Depending on your size constraints, VOXL2 also can be used like VOXL-Flight, where you can use an external flight controller (like Flight Core) externally, which has 8-ch PWM. See here for info on that use case. (Why not native PWM? The VOXL/VOXL2 platforms are Snapdragon 820/865 based, which are primarily used in cell phones.... The PWM feature is not needed in cell phones, so these type of SoCs don't generally have native PWM...)

@Nishkala I used this link - https://docs.modalai.com/voxl2-system-image/#force-voxl-2-into-fastboot You will need the latest platform release which can be found here - https://developer.modalai.com/asset/2

I've updated the docs page with some clarifications and new diagrams that I think address all of your questions. Please let me know if this helps: https://docs.modalai.com/configure-extrinsics/ Best, James

@Kris Thanks for the feedback!

@Eric-Katzfey Thank you for your reply and helpful information.

Hi @Wei-Cui , If using system image 1.3 for the RB5 (865 platform), this means you now have the VOXL SDK, which uses voxl-streamer From https://developer.modalai.com/ You have: [image: 1661874180480-9e266117-f01e-4e9e-b407-8cf675abc131-image.png] Which at this point has this release: [image: 1661874097851-3a34a1d7-0ae6-4a80-809b-284733001bb6-image.png] This is a different architecture than the RB5 Flight SDK, which is not getting feature updates. The VOXL SDK is what our core software team is developing on and will continue to get all the new features and updates.

@Matt-Turi Ty, I used a different image(voxl cross image), it is working with the voxl emulator.

Hey @jamiek, If this error occurs, it will result in no map generation at the time of error. This is because we need to grab a pose from our ringbuffer (at the timestamp of our pointcloud) in order to insert each pointcloud correctly into the map. This is caused by either voxl-qvio-server or voxl-vision-px4 not properly publishing a pose estimate. You can monitor the output of voxl-qvio-server using voxl-inspect-qvio on voxl or viewing the qvio overlay in voxl-portal. If everything looks good there and qvio is properly publishing pose info, the next place to check is voxl-vision-px4. This error means that we are not receiving a fixed pose data out of voxl-vision-px4, so once you have verified qvio is not reporting any error codes, monitor the output of voxl-inspect-pose -f on voxl and make sure that you are receiving pose data.

yeah, just wanted a confirmation, thanks

WOW what a great thread, so on time for me Thanks Kris

Hey @ahmed-mustahid, You can view one camera stream at a time within the Mapper page of voxl-portal. The bottom left hand corner of the page includes a button (tv icon) to overlay an image stream on top of the map grid. Clicking on this tv icon will populate a list above of all available image topics, similar to the camera dropdown. Selecting one will overlay it on the page, where it can be resized via the bottom left corner of the stream and closed using the red x at the bottom left.