Hi @Alex-Gardner, We switched from using voxl-cross and using adjusted .sh files from voxl-vision-px4, to placing our script inside libvoxl_io and adjusting the install_deps and CMakeLists.txt file. Then we can use the 32bit compilers from libvoxl_io, instead of the 64bit compiler from voxl-vision-px4 (we are not really using voxl-vision-px4 as a whole, we just copied some files for dependencies en building). We added the libraries to install-deps, except modal-cv (because we don't need it) and that works. (Libvoxl_io is not among the installed libraries, because we placed our script inside libvoxl_io itself) [image: 1659351485197-3a3c4a0b-8e8f-427e-8390-7a8881e8d6eb-image.png] But when we try to build it, it raises the following error: [image: 1659351624836-f847627f-65ab-4918-909b-42cc143e89a8-image.png] In /usr/include there is a file called modal_pipe_common.h, but the error remains. [image: 1659351796921-8f0338fa-b256-4fe8-b463-ef6d68f1c691-image.png] I also don't understand why the path in the error is: usr/include/c_library_v2/../modal_pipe_server.h, and not: usr/include/modal_pipe_server.h Is placing our script inside libvoxl_io like this the right path? How can we fix the error?

Thanks Vinny -- we'll keep an eye out for the email!

Hey @andyh, We have a USB3 cable with a 10 pin connector that is compatible with the 5G modem carrier board listed here.

Got it, thanks to both. Sorry for the paranoia!

@Chad-Sweet Thank you!

@Zachary-Lowell Yes, it is in voxl-px4.config. The gps start line has a -d parameter to specify the serial port. But J19 is the standard place to attach GPS so you can stick with what is already there. But please note that Holybro made changes to the pixhawk 4 GPS unit a few months ago and VOXL 2 only works with the newer updated version. If you have an older unit it will not work.

Thank you so much for the response Chad!

@Matthew-Booker will do that, thank you!!

@modaltb Hi there! May I ask how the loopback test is conducted? How do you get the github file to run on VOXL? Thank you!

Which version of PX4 are you running on the Pixhawk and do you have a magnetometer connected? EKF2 is generally unhappy about about starting without a magnetometer in PX4 1.11 so we patched the PX4 firmware for Flight Core to get around this. In PX4 1.12 and newer the following PX4 parameter can be set to allow EKF2 to allow position mode without a GPS/Mag ## disable mag SYS_HAS_MAG 0 EKF2_MAG_TYPE 5

@Chad-Sweet No, I didn't try changing any code Should I try reinstalling voxl-mpa-to-ros ?

Thanks for the answer, yes I already looked into the code. I was just wondering why the servers timestamp differs from the system timestamp. But then I will change the node accordingly.

That depends I guess. If I merely use the drone for indoor navigation purely by tele-oportation (as opposed to waypoint navigation) then I'm guessing resetting qvio mid flight while moving (and causing a shift in the origin of the reference frame) wouldn't really matter. Unless I'm mistaken, PX4 uses a velocity controller while moving in Position flight mode. Only when it is stationary does PX4 uses it's position controller (and velocity controller) and that's when a reset of the reference frame origin will really screw things up. Would love to hear from the devs though

@hs775 The instructions here: https://docs.modalai.com/voxl2-px4-build-guide/ are meant to be run on your PC, not the drone.

@Isabella-Yu, If there is no tflite_data pipe, you may be using a version of voxl-tflite-server that does not have the ai_detection_t added yet. This feature was added in v0.2.0, so make sure you are using the latest available version!

Hi @Alex-Gardner, We resolved the issue using this forumpost: https://forum.modalai.com/topic/1050/position-flight-is-not-available-after-firmware-update?_=1658251944919 Thanks for the help

@DarkKnightCH to followup on this -- a reflash of the VOXL Flight Core solved the problem for me. It was in an unresponsive state and I was unable to change parameters or talk to the Flight Core until I reflashed the current release of firmware from ModalAI.

@Matt-Turi Yep, turns out switching to wall power fixed it. My battery power was too low. Thanks!