@Alex-Kushleyev we needed three outputs and three inputs, so we ended up using an entirely different board (an AVR system) connected to the VOXL2 via ttyHS1 through the expansion board, and that seems to be doing what we need, with the added benefit of the pulldown resistors being built into that control board. There is certainly something odd about the PX4 build on this unit, both in terms of available camera controls and GPS options, which is the next thing we're trying to tackle. @restore unfotunately I'm under an NDA and can't say much about what we're doing with the Sony hardware, but I will say that their documented processes for the Raspberry Pi 4 also work on the Voxl2, as long as you have the USB3 available. Try not to use the SDK to trigger the camera though; the performance there isn't exactly consistent. The hardwired options (be it through the not-quite-USB port or the phsyical interface on something like an ILX-LR1) are rock solid, but as they're designed to be button-triggered, you'll need a resistor between your control board and some sort of transistor (2N222) and then control the actual interface with the transistor. Otherwise, the trigger input is looking for the output from its own source, which is an indeterminate voltage and will quite likely damage the VOXL. The transistor will take essentially whatever current you give it, so that resistor is also mandatory - 10kOhm works for me with the AVR 440 chip controlling it.

I found this by running ./voxl-esc-scan.py or voxl-esc and selecting detect...or scan I can not remember

@restore , i don't think this module will work with VOXL2_IO because it seems the Seagull MAP2 interface expects direct connection to the I/O pins, which is not the case when using VOXL2_IO module. Alex

@Chase-Riley Since you're getting no response from lsusb or dmesg I think the best path forward is an RMA: https://www.modalai.com/pages/rma

@Chad-Sweet, @James-Strawson, @tom any updates?

@Aaky, I see what you are asking. What is needed is the python binding to the C function int pipe_server_get_num_clients(int ch) , which is defined here pympa_create_pub already is set up to return the MPA channel number, so we would just need to use that channel number of checking the number of clients. I can implement this, but it will need to wait a few days. That is a good feature to have. If you would like to try implementing it yourself, you can add the bindings to : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-tools/-/blob/pympa-experimental/tools/pympa.cpp (add call to pipe_server_get_num_clients) in a similar way how other functions are called. add the actual python wrapper to: https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-tools/-/blob/pympa-experimental/tools/python/pympa.py then finally, when you call pympa_create_pub, save the pipe id and then pass it to check for clients. Alex

I can confirm that multi-camera triggering works with a very minor patch: diff --git a/recipes-kernel/voxl-fysnc-mod/files/voxl-fsync-mod.c b/recipes-kernel/voxl-fysnc-mod/files/voxl-fsync-mod.c index 837dd21..730e374 100644 --- a/recipes-kernel/voxl-fysnc-mod/files/voxl-fsync-mod.c +++ b/recipes-kernel/voxl-fysnc-mod/files/voxl-fsync-mod.c @@ -24,7 +24,10 @@ * /sys/module/voxl_fsync_mod/parameters/pulse_width_us * - uint - the length of pulse to use in microseconds, default 10, 10us * - * /sys/module/voxl_fsync_mod/parameters/gpio_num + * /sys/module/voxl_fsync_mod/parameters/gpio1_num + * - uint - the GPIO number to use + * + * /sys/module/voxl_fsync_mod/parameters/gpio2_num * - uint - the GPIO number to use */ #define GPIO_OFFSET 1100 @@ -38,8 +41,10 @@ static uint pulse_width_us = 10; // module_param(pulse_width_us, uint, 0644); /* GPIO number */ -static uint gpio_num = 109; -module_param(gpio_num, uint, 0644); +static uint gpio1_num = 41; +module_param(gpio1_num, uint, 0644); +static uint gpio2_num = 114; +module_param(gpio2_num, uint, 0644); /* enable/disable the GPIO output and timestamps */ static int enabled = 0; @@ -143,8 +148,10 @@ static enum hrtimer_restart fsync_hrtimer_tick_cb(struct hrtimer *timer) { /* initialize on being enabled */ if (!initialized && enabled) { - gpio_direction_output((gpio_num + GPIO_OFFSET), 0); - gpio_export((gpio_num + GPIO_OFFSET), true); + gpio_direction_output((gpio1_num + GPIO_OFFSET), 0); + gpio_export((gpio1_num + GPIO_OFFSET), true); + gpio_direction_output((gpio2_num + GPIO_OFFSET), 0); + gpio_export((gpio2_num + GPIO_OFFSET), true); initialized = true; pr_info("voxl-fsync: initialized\n"); } @@ -153,7 +160,8 @@ static enum hrtimer_restart fsync_hrtimer_tick_cb(struct hrtimer *timer) hrtimer_forward_now(&fsync_hrtimer, ns_to_ktime(sampling_period_ns)); if (enabled) { - gpio_set_value((gpio_num + GPIO_OFFSET), 1); + gpio_set_value((gpio1_num + GPIO_OFFSET), 1); + gpio_set_value((gpio2_num + GPIO_OFFSET), 1); /* TIMESTAMP TIMESTAMP TIMESTAMP*/ mutex_lock(&fysnc_mutex); @@ -163,7 +171,8 @@ static enum hrtimer_restart fsync_hrtimer_tick_cb(struct hrtimer *timer) if(pulse_width_us > 0) udelay(pulse_width_us); - gpio_set_value((gpio_num + GPIO_OFFSET), 0); + gpio_set_value((gpio1_num + GPIO_OFFSET), 0); + gpio_set_value((gpio2_num + GPIO_OFFSET), 0); /* signal clients */ fsync_update_pending = 1;

@riteshsharma do the SDK installation with ./install.sh -w option. This will wipe the entire file system including the /data partition which is usually untouched.

@tom the full wipe SDK install sorted it out. Thanks

@Eric-Katzfey Understood. Thank you.

@Eric-Katzfey Understood. Thanks My line of questioning in another topic I posted - " Attempt to reduce drift with the help of stereo camera " is similar. So, I'll close this and take your advice from that. Thanks again

@Vinny Thanks for the help on this I really appreciate it. I'll take a look.

@Moderator Please tell me that without modifications Just Like Vijay Kumar has developed the SWARM of MESH with your Drones, I want to buy VOXL 2 Starling Drones in order to develop the Mesh Networking with 2 drones? How I can do it easily? Is it feasible ? or We can develop that with XBEE 3 ? Please help me in this regard ? If I need to change the driver setting How I can do that in order to implement the SWARM of the drones MESH Networking ?

@restore, it looks like PX4 does have a driver for this imu/compass. https://github.com/modalai/px4-firmware/blob/voxl-dev/src/drivers/imu/invensense/icm20948/ICM20948.cpp However, it is not clear whether you can read just compass data. Please take a look at this driver. If you want to use it, you will need to enable building of the driver in the voxl2 board config: https://github.com/modalai/px4-firmware/blob/voxl-dev/boards/modalai/voxl2-slpi/default.px4board : enable DRIVERS_IMU_INVENSENSE_ICM20948=y . Then, modify /usr/bin/voxl-px4-start to include: qshell icm20948 start We have not tested this driver, so we cannot really provide any guidance on using it for your application. However, with the above instructions, you should be able to compile it and run it. Please make sure that the IMU data from this module does not conflict with the main flight IMU. Alex

Noting here that flashing the wrong kernel will brick the device (ie flashing the QRB on the QSM) make sure to select the correct option when upgrading the board.

@Nathan-Sullivan-0 Great! Thanks for the update

Hi @Jonathan-Davis, Our Starling v2 VOXL 2 board requires this flat build image (M0054-2 Starling QDL Image 1.7.4) which is available in our protected downloads as well as in the unbricking documentation here where you can proceed with the same step-by-step instructions. When finished, the qdl command should complete and the terminal should output "partition 1 is now bootable" indicating a successful QDL flash. Hope this helps!

Thank you @Eric-Katzfey , it worked, I tested each port individually and made sure the individual ports are working, and then integrated the two and is working fine. Here is my solution if anyone needs. I used Telem 1 port of the cube and the UART pins on the J5 connector of USB2 Type A Breakout (M0141) . The parameters I set for MAV 1 is here [image: 1715330904479-214a9a31-6231-4a59-bb93-3048e5fc9c5b-image.png] [image: 1715330935684-33012de2-cc53-484e-99de-dc534345f369-image.png] After disabling the voxl-px4 services, Connect to VOXL wifi and check QGC, you'll get the FC data in which the cube is used as the flight controller. The VOXL ESC, I haven't tested it yet, I'll test and get back if any problems.