@Abdullah01 Leave SENS_BOARD_ROT as the default value. You are specifying the rotation of the board by giving the IMU driver the -R 4 option.

@Vaibhav-Usapkar Your ls showing it in the file system is showing it outside of the docker container. You will need to run the base docker container and do ls there to see what is in that directory. How did you get the gcc-linaro-7.5.0-2019.12-x86_64_aarch64-linux-gnu.tar file? That shouldn't be in your local directory.

@afdrus My best guess is 2-4 weeks

@Aidan-Dempster Yes, HITL support will be migrated to the voxl-dev branch as well.

@Jyotish-Kumar i have faced the same issue. the record pipe name has changed in dev branch, try to use hires_large_encoded or hires_small_encoded based on your resolution requirement. Can find more config parameters in /etc/modalai/voxl-camera-server.conf

@relevinsky The VOXL SDK projects aren't meant to be built on VOXL2 itself. We offer a few different docker images to build on a PC, voxl-qvio-server on VOXL2 is built using qrb5165 emulator: https://docs.modalai.com/voxl-emulator/#install-the-voxl-emulator-docker-image while some other projects are built using voxl-cross: https://docs.modalai.com/voxl-cross/#install-pre-built-voxl-cross

@Vinny Nice! thank you for the resources Vinny

Hi @Doug-Miller I can answer some questions for you: YES, J9 USB-C now supports Host mode on this platform. Sadly, no, net yet. That was a recent discovery and we have not had a chance to determine a clean work-around aside from incorporating the series caps on your target device. We do plan to make a spin of Voxl2 mini later in the year to fix this long-term. It's not an easy effort, so we cannot just jump into it quickly. Not sure what you mean by "noting past forum comments" but if you design a simple Hub board, there are no tricks to interfacing it other than including the series caps on both TX and RX lines of the SS signals, and make sure to swap RX/TX to the hub since the notation "RX" is relative to our host. Here is a simple Schematic snippet to show you how we do it on our 5G modem (M0090) boards: [image: 1686330373177-f294c43b-06cf-46e1-a25e-7bd10382fbc3-image.png] We've had success using small I2C/SPI based displays on our FlightCore products, but this is starting to venture into more of a SW topic for support using Voxl2. I do not have any good suggestions, but maybe someone else from the team might chime in. The QRB5165 SPI ports are capable of 50MHz maximum. I'm not sure if SW has them setup for that. Requires someone from SW to respond. I'll ping them internally to ask someone to respond. We've just undergone a forum server update, and some of our notifications are currently down, so not everyone sees all the posts at the moment. Thanks for your patience.

@Aaky I sent the link. We have tried GPS position hold and VIO but not fusion. PX4 is supposed to have better support for that in 1.14.0 but we haven't tested it yet. We would love to hear how your testing with that progresses.

Hi @jaredjohansen Thanks for reaching out. We recently wrote up this page to help: https://docs.modalai.com/voxl2-thermal-performance/ As far as what components require the focus, it is certainly the QRB5165 module on Voxl 2 that will be the predominate power source. On one side, we have the LPDDR5 SDRAM, that tends to be the limiting factor. Although not the source of the heat, it sits above the CPUs so it is the most accessible for thermal dissipation. We suggest trying to make sure you have airflow flowing over this portion: [image: 1686178612211-1ccecfce-462e-4165-ba01-bf424f26f844-image.png] (Zoom in, the part that pokes through the PCB hole) [image: 1686178622397-46fad1d0-a6ac-47cd-b0d3-61aafc312f7e-image.png] The secondary side will also help, but not as much. This side has much of the internal power control ICs, but due to the relative mass, may not feel as warm, but the same mass and volume/area helps provide more area for airflow to work: [image: 1686178717417-6b0f30f2-c1d7-4b52-a5cf-acb6ffa100e2-image.png] We made a conscience decision on Voxl2 to place the B2B connectors J3 and J5 on that side exactly because of that concern. The expectation is that any plug-in boards will not impede airflow from being on the LPDDR side, thus leaving only small image sensor flexes to work around for airflow. Hope this helps!

@kp-ng Do you recall the steps you took to fix your issue?

Hi @frafrat It depends on what you have plugged in to the Voxl2 board. It's easy to use an external power supply for a board only setup (no BLDC motors) and run your use cases and read back the current your power supply shows. We do not do this often since we make a development platform, and all customers use it differently. Moreover, we also do not feel the need to characterize an "idle" state since it is literally a 3rd or 4th order power consumption value compared to any simple actuation (motors or servos). The on-board LEDs are the dominate factor in idle, using about 5mA each at 3.3V and 5V. My supply, with running nothing and just having an ADB connection pulls about 0.4W, but 0.1W of that is LEDs and I'm positive the rest is power supply efficiency losses, and we do not enter any sleep states especially with keeping ADB up and running the default voxl-suite. It's likely faster for you to test your setup than to explain to us what your system is and how you wish to use it. I think one of our SW team members was exploring some of the sleep states, but we just never saw the need to really enter them. We have many tools in Voxl-suite to monitor running programs, so if you do this, I would recommend trying to understand what is running in "idle" and as you try to disable stuff, you can see the power consumption impact and compare against what functions you need to keep alive for your application. We cannot share the actual QRB5165 data sheet. Perhaps if you join the Qualcomm Developer Network, you might be able to get some more data directly from there. If you need further help, please ask.

@James-Strawson I am having the same error while transitioning from staging to stable branch. The voxl-vision-px4 is enabled but I am not able to make it run again