@Jetson-Nano , thanks for confirming. Yes, that is a sign of incorrect IMU to camera transform (tracking camera extrinsics).

Hi @Nathan-Sullivan-0 I did reach out, but for the benefit of the other forum users, I did a little digging into the modes of the Sony ILX-LR1. I'm wondering if there is a nuance between the camera being enabled as UVC device, but then if you are in still frame mode, sending it (very high resolution) JPEG/RAW/HEIF formats. [image: 1722380710567-d4c38f19-0671-4139-813d-d24f9419fed8-image.png] Maybe someone from SW can confirm, but UVC devices may only expect data in MPEG or other video formats. So, I wonder if the fact that your devices enumerate at first, but then the moment you try to use them in still image mode, things go wrong. This may be a data formatting issue. Another thing to note: can you make sure these images come across USB at controlled ways at different times. You are trying to push a LOT of data into this one port, even those stills are at 15MB minimum. Not sure what frame rate you are using, but you may be saturating the USB link. Have you done a bandwidth analysis? Our MCBL-00022-2 is not qualified for 10Gbps speeds, and for 5Gbps rates, we only qualified it for prototype use. Sustained very high throughput rates may require you to source a proper shielded USB3 to USB-C cable. We try to make that disclaimer clear on our Tech Docs page: [image: 1722381169057-bc9b090d-9bca-4090-b5e4-1a0166dc2298-image.png] And the last point I want to highlight is the USB-C port on the Sony camera may be orientation dependent when not using it in USB-C modes. We are only USB-3 modes on our Hub, and I'm not sure what cable you are using to convert our USB-3 to the USB-C, but we have found that a lot of USB-C to "less-than-USB-C" cables (i.e.: USBC-to-USB3, USBC-to-USB2) actually have orientation specific insertions at the USB-C side if done cheaply. We have some in our own HQ that work like that (I'm trying to find them all and trash them ) Look forward to your email response. Thanks!

@cy208183395 You have to follow all steps. The serial cable must be used.

@Cai-Bill Can you send a flight log of flying in manual mode and then trying to switch into position mode?

@Eric-Katzfey All right. We look forward to the update.

@cy208183395 VOXL doesn't need to be connected to a network in order to upgrade an SDK via the install.sh script, you can follow the steps here: https://docs.modalai.com/flash-system-image/#flashing-a-voxl-sdk-release

@cy208183395 Yes, well then that is your problem. When you try to run it on VOXL 2 and you don't have Docker installed on VOXL 2 then you will see an error like docker: command not found. You have to install Docker on VOXL 2.

@TomP Yes, should be in by end of the year.

Hey @user887 I attempted to QDL flash a "golden unit" rb5 but wasn't able to replicate the error you're experiencing. I would remove and reattach the SOM ensuring there isn't a loose connection to the rb5 board, remove any cameras or connectors, and trying a different USB cable in the case of a loose connection between the USB cable and rb5. Hope these tips help!

HI @Zarrar Just for correctness, we are not DJI and have no association with them Hi, I hope you are well. I need help in the selection of DJI VOXL 2 Starling

@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

@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

@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