Hi @Eric-Katzfey, We had some finds. Here's what we've understood so far: Two things are needed to make a voxl-px4 package using px4-firmware(voxl-dev) modalai_rb5-flight_default modalai_rb5-flight_qurt And each one needs the following different crsf_parse function modalai_rb5-flight_default needs crsf_parse(6 arguments) modalai_rb5-flight_qrut needs crsf_parse(8 arguments) Each px4-firmware has a different version of crsf_parse Branch: main has crsf_parse(6 arguments) Branch: voxl-dev has crsf_parse(8 arguments) Our goal was to build the voxl-px4 included MicroRTPS_bridge in px4-firmware(branch: voxl-dev), so we added the following two functions to crsf.cpp in px4-firmware. bool crsf_parse_buffer(uint16_t *values, uint16_t *num_values, uint16_t max_channels) as crsf_parse_buffer_6 bool crsf_parse(const uint64_t now, const uint8_t *frame, unsigned len, uint16_t *values, uint16_t *num_values, uint16_t max_channels) as crsf_parse_6 Then the build progressed to 89% and stopped with an error below. ERROR #1 [ 89%] Building CXX object src/systemcmds/pwm/CMakeFiles/systemcmds__pwm.dir/pwm.cpp.o /usr/local/workspace/px4-firmware/src/systemcmds/pwm/pwm.cpp: In function 'int pwm_main(int, char**)': /usr/local/workspace/px4-firmware/src/systemcmds/pwm/pwm.cpp:810:3: error: 'qurt_loop' was not declared in this scope 810 | qurt_loop = 320; | ^~~~~~~~~ compilation terminated due to -Wfatal-errors. make[3]: *** [src/systemcmds/pwm/CMakeFiles/systemcmds__pwm.dir/build.make:63: src/systemcmds/pwm/CMakeFiles/systemcmds__pwm.dir/pwm.cpp.o] Error 1 make[3]: Leaving directory '/usr/local/workspace/px4-firmware/build/modalai_rb5-flight_default' make[2]: *** [CMakeFiles/Makefile2:12085: src/systemcmds/pwm/CMakeFiles/systemcmds__pwm.dir/all] Error 2 make[2]: Leaving directory '/usr/local/workspace/px4-firmware/build/modalai_rb5-flight_default' make[1]: *** [Makefile:152: all] Error 2 make[1]: Leaving directory '/usr/local/workspace/px4-firmware/build/modalai_rb5-flight_default' make: *** [Makefile:222: modalai_rb5-flight_default] Error 2 We changed the int qurt_loop variable's scope to like this. Before [image: 1670957157167-32b86fac-1631-4048-b2ce-a29792ee533b-untitled.png] After [image: 1670957171221-f6a25f03-3c63-4f66-92e4-b3181adacef6-untitled-1.png] After that, an error occurred for the label for jump, and it was resolved by changing it as follows. ERROR #2 [ 89%] Building CXX object src/systemcmds/pwm/CMakeFiles/systemcmds__pwm.dir/pwm.cpp.o /usr/local/workspace/px4-firmware/src/systemcmds/pwm/pwm.cpp: In function 'int pwm_main(int, char**)': /usr/local/workspace/px4-firmware/src/systemcmds/pwm/pwm.cpp:864:1: error: jump to label 'err_out_no_test_2' 864 | err_out_no_test_2: | ^~~~~~~~~~~~~~~~~ compilation terminated due to -Wfatal-errors. make[3]: *** [src/systemcmds/pwm/CMakeFiles/systemcmds__pwm.dir/build.make:63: src/systemcmds/pwm/CMakeFiles/systemcmds__pwm.dir/pwm.cpp.o] Error 1 make[3]: Leaving directory '/usr/local/workspace/px4-firmware/build/modalai_rb5-flight_default' make[2]: *** [CMakeFiles/Makefile2:12085: src/systemcmds/pwm/CMakeFiles/systemcmds__pwm.dir/all] Error 2 make[2]: Leaving directory '/usr/local/workspace/px4-firmware/build/modalai_rb5-flight_default' make[1]: *** [Makefile:152: all] Error 2 make[1]: Leaving directory '/usr/local/workspace/px4-firmware/build/modalai_rb5-flight_default' So we changed the goto command to "return 0" instead of using err_out_no_test_2 label. After that, the build.sh worked and the make_packages.sh also worked.(in the voxl-px4) However, it did not run with the following error on voxl2. ERROR #3 voxl2:~$ voxl-px4 Found DSP signature file /usr/bin/voxl-px4: line 42: /usr/bin/px4: cannot execute binary file: Exec format error Based on the above results, we think the voxl-px4 with microRTPS_bridge can be built by changing modalai_rb5-flight_default and modalai_rb5-flight_qurt to use the same crsf_parse. So if you think our thinking is correct, can you give us some guidance? If it is not possible in px4-firmware(branch: voxl-dev), can we build voxl-px4(included micrortps_bridge) using another branch? Any advice would be appreciated.

MPA Config took care of it.

Hi @tom, Thank you for your help, I got it going and is now back to a usable state!

This was very helpful, thank you!

@JoeC gotcha. If you could email us at: contact@modalai.com we can get started

@Moderator Pin 8 is not needed. The USB on Voxl/Voxl2 J13/J3 is always a HOST. Previous gen designs used this for OTG selection, so we manage this directly on Voxl2. For all intents and purposes, pin 8 is a "dead pin" and should be N.C. (no connect). Let us know if you have any other questions. Thanks

Hi @Roy-Wood , Natively, the RC and PX4IO drivers are looking at UART on J19. The ESC driver natively looks to J18 (E in the diagram). We've not tried RC on that UART and it's not "easily" configurable through a PX4 param, although I'm pretty sure modifying code could get it going... let me know if you are opening the hood up to the code base and I can point ya towards areas.

Thanks alot @Chad-Sweet for guidance. I will look into rangefinder server for further integration.

Have you used an oscilloscope to probe the line from the flight controller to VOXL2 to make sure the flight controller is sending data at the correct baudrate? Also note that the logic level of that UART connector on M0125 is 3.3V, I'm not sure if that matches the expected logic level of the port you are using on the CubeOrange. Also note PX4 requires some serial port configuration. We normally use mavlink channel 1 with the Telem2 port on our flight core set to 921600 and 'onboard' mode. This translates to the following px4 param settings, note that yours will most likely be different due to using a different flight controller in a different configuration. MAV_1_CONFIG 102 MAV_1_FORWARD 0 MAV_1_MODE 2 MAV_1_RATE 0 SER_TEL2_BAUD 921600

We normally do a 'proper' voxl-camera-server update to add meta data (e.g. this commit) but I've used the imx214 with updated preview_width etc for a different sensor and it seemed to run OK for me for testing. Let me see about IMX377, seems like if we sell it we SHOULD support it already!!! But need to see what's up.

Hi @modaltb Thanks for sharing that information. It happened today and changing the power cable fixed it.

It is probably worth upgrading the software to the latest release. The version you have is really old. I guess I can't say for sure that it will fix the problem, but it's likely to match the docs better for getting going https://docs.modalai.com/voxl2-system-image/

Can you try to run the server manually: voxl-dfs-server and see what the output says

I assume you are referring to VOXL 2? If so, there is no PWM output on VOXL 2 as the Snapdragon processor onboard does not have PWM output. If you already have another flight controller you can use VOXL 2 as the companion computer to that flight controller https://docs.modalai.com/voxl2-external-flight-controller/

@Alex-Gardner Thank you for the update. Will be testing this pretty soon.

Hi @Vinny Thank you for prompt response. I understand the current state of development of TDK Mezzanine on VOXL2. Noted. No further information needed. Thank you