Hi @Jeremy-Frederick , we are moving towards using updated M0065 firmware and PX4 driver which has some improvements as well as easier to debug. Can you please check out this thread : https://forum.modalai.com/topic/3265/additional-voxl-2-pwm-ouputs
You will need to update M0065 firmware and use px4 build from a branch (either build it yourself or i provided a link to deb in that thread).
When you update the M0065 firmware, if you also have the ESC plugged in, just unplug the ESC UART connection in order to avoid any confusion, because the M0065 and ESC use the same tools / protocol to update the firmware. You will not be able to upload wrong firmware to any of these boards, but unplugging the ESC uart will just make things simpler, so that the update tools can autodetect the port.
After you install the updates, please check output of voxl-px4 -d | grep VOXL2_IO , which will print a bunch of voxl2 io driver initialization info. then make sure your channel mapping is set up correctly (specifically, VOXL2_IO_FUNC* params and then you can test using QGC.
You should see output that looks something like this, which is set up to map motors 1-4 to pwm, but you may need to change it for your aux functionality. There is no change in how you start the driver (you can still provide the port number, etc)
INFO [muorb] SLPI: VOXL2_IO: Driver starting INFO [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_BAUD : 921600 INFO [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_FUNC1 : 101 INFO [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_FUNC2 : 102 INFO [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_FUNC3 : 103 INFO [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_FUNC4 : 104 INFO [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_FUNC5 : 0 INFO [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_FUNC6 : 0 INFO [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_FUNC7 : 0 INFO [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_FUNC8 : 0 INFO [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_DIS : 1000 INFO [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_MIN : 1100 INFO [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_MAX : 2000 INFO [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_CMIN : 1050 INFO [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_CMAX : 2000 INFO [muorb] SLPI: VOXL2_IO: INFO [muorb] SLPI: VOXL2_IO: Opening UART device 2, baud rate 921600 INFO [muorb] SLPI: VOXL2_IO: Successfully opened UART device INFO [muorb] SLPI: VOXL2_IO: Detecting M0065 board... INFO [muorb] SLPI: VOXL2_IO: VOXL2_IO ID: 0 INFO [muorb] SLPI: VOXL2_IO: Board Type : 35: ModalAi I/O Expander (M0065) INFO [muorb] SLPI: VOXL2_IO: Unique ID : 0x4304296039364B560671FF36 INFO [muorb] SLPI: VOXL2_IO: Firmware : version 2, hash f94baad1 INFO [muorb] SLPI: VOXL2_IO: Bootloader : version 0, hash 17147346* INFO [muorb] SLPI: VOXL2_IO: Reply time : 2584us INFO [muorb] SLPI: VOXL2_IO: Driver initialization succeeded