@AndriiHlyvko , thank you for following up with your solution!

@Morten-Nissov I would advise trying to get some support from the PX4 community. I'm not aware of any use of i2c multiplexers in any current PX4 drivers but I think it's a useful feature. But that is the best place to get advice on PX4 development.

If you need the cpu stress function to generate more heat, here is something that works. you can replace the current function with this one. It adds a memcpy() operation which uses a lot of power. You can tune do_memcpy_every_nth to control more or less heat (decreasing the number will use heat up cpu more). Original function is here #define STRESS_ARRAY_SIZE (128*1024) static void* _stress_function(__attribute__((unused)) void* arg) { uint8_t * _stress_array = malloc(sizeof(uint8_t)*STRESS_ARRAY_SIZE); uint32_t cntr = 0; while(stress_running){ cntr++; volatile double s = sqrt(rand()); //this helps slow down the while loop const int do_memcpy_every_nth = 50; //do not perform memcpy every loop because cpu can get hot very quickly if ((cntr % do_memcpy_every_nth) == 0){ memcpy(_stress_array,_stress_array+STRESS_ARRAY_SIZE/2,sizeof(uint8_t)*STRESS_ARRAY_SIZE/2); } } //printf("stress thread exiting\n"); free(_stress_array); return NULL; }

Hi @Jskim We are happy to report our testing was successful. I have documented the process where you can modify MCBL-00022-2 and add the series caps for your self to unblock your USB 3 speeds: https://docs.modalai.com/cable-userguides/#how-to-modify-mcbl-00022-2-for-use-with-voxl-2-mini-usb-3-speeds Hope this helps!! Let us know how your testing progresses.

@Moderator Thank you for the response. I did come across this product of yours here: https://www.modalai.com/products/mdk-m0135?_pos=1&_sid=e4d19a51b&_ss=r that should work great after looking through some of your user guides and technical documentation.

Hi @wy Yes. You will need to use these hardware adapters as shown here though to mate to our Framos adapters (MDK-M0061): https://docs.modalai.com/voxl2-mini-image-sensors/#hardware-information Keep in mind, VOXL 2 Mini is just a reduced CSI port version of VOXL 2. We even retain the same hardware notations of "J6" and "J7" that align the same electrically and functionally with "J6" and "J7" of VOXL 2. Hope this helps!

@Darshit-Desai We do not have a ready to fly reference yet. VOXL 2 Mini and the VOXL ESC Mini both support the industry standard 30.5mm mounting hole pattern, so you should be able to find a frame to fly.

HI @Brendon J9 and that LED are "mostly" independent. J9 is our USB-C port, whereas that LED is indicating the VBUS power is present for J3 USB host port. There are several things that might make this LED turn off: SW control, using GPIO_157. That controls the power switch for J3, so if that is set LOW, it will disable the VBUS on J3. J3 is only able to source ~900mA max current. If you are indeed using J3 and not J9, please check your device is not pulling too much current. If you are using an actual 1S battery, as the voltage drops, so will the current capabilities. So, if you are pulling too much, you are putting a droop into the VBUS. If you are running a fan on 5V and a magnetometer unit at 5V, that also takes away from the max capability as listed here: https://docs.modalai.com/voxl2-mini-connectors/#power-inputoutput-important-note If you are loosing ADB, that is indicative of a board reset or a short on the USB-C port. This is where the Moderator's comments come into play as well. Clearly a reset will cycle power on both J9 USB-C and J3 USB Host ports. A short on USB-C may force the power mgmt chips to cycle power as well. Are you able to send a picture of your setup, including your power supply to VOXL 2 Mini? That will help us guide you further. Thanks!

@Moderator USB to ethernet connected to USB3 port [image: 1703725866764-01kakaotalk_20231228_100732658.jpg]

OK, here is the clarification regarding camera IDs and sensormodule file names and the general process for camera detection on VOXL2 platforms all the camera-related drivers are located in /usr/lib/camera the index at the end of sensormodule.bin filename, such as 0 in com.qti.sensormodule.imx678_0.bin is only used to distinguish the files - the actual index at the end is not being used for anything each sensormodule.bin file contains a camera_id parameter, which is read by the camera framework after loading the .bin file the camera_id is then used by the Kernel to look up the specific port information to be used for communication with the specific camera, including (but not limited to): i2c (cci) bus id, mipi interface id, reset pin and others. This information is mapped to each camera port in the Linux Device Tree. with the above information (all basically mapped to a single camera ID), the camera framework knows how to turn on the camera, which bus to use for i2c communication and which mipi port to receive the image data from after obtaining the port information, the camera framework uses other information in sensormodule.bin to detect the camera (query the WHOAMI register for camera identification). If the camera is detected, it is considered to be available for the camera framework to use (not much else is happening until you actually open the camera using the voxl-camera-server, for example). The camera framework also loads the list of available streaming modes which is also contained in the sensormodule.bin after the camera is queried / identified, it is then powered off when voxl-camera-server is started, it sees all the cameras that the camera framework already detected and their corresponding resolutions / modes. Based on the voxl-camera-server.conf, the appropriate cameras are turned on again and set to stream at the desired resolution / fps. lastly, for each camera type, there is a single .so dynamic library (for example com.qti.sensor.imx678.so) which contains functions for converting desired exposure and gain values into the register values that need to be sent to the camera. With all of this in mind, renaming a sensormodule.bin should achieve nothing because the actual id / number at the end of the file is not used for the camera ID parameter, it is only used for differentiating the files. If there is still an outstanding request to connect IMX678 camera to a port that is currently not supported, please let us know, we can generate and test the new sensormodule.bin files and release them (assuming there are no other unexpected issues) Alex

@tom Yes sir. Voxl 2 mini J9 USB port <=> Android Phone attempting to use accessory mode to directly communicate without additional external hardware for networking or similar. I've used that port as the host for USB storage previously, ADB, etc. but this use is resisting our efforts.

@mkriesel Yep, exactly

I am having these same issues. I'm on voxl suite 1.1.0. Voxl camera server shows 0 cameras connected. When I use dmesg right after I get this: [image: 1701455566411-56fd6d22-d63c-4478-a07c-bcc3379c6b2c-image.png] My setup is as shown here: https://docs.modalai.com/images/voxl2-mini/MDK-M0104-1-C4-b.jpg And I've used camera-server-config-helper hires:imx214:0 tracking0:ov7251:1 For configuration. Am I doing something obviously wrong? Thanks

Thanks @Moderator, How to connect Microhard UART to VOXL2 mini, which connectors should I use?

@Trinadh Can you edit the file /etc/modalai/voxl-px4.conf and set GPS=NONE, RC=EXTERNAL, POWER_MANAGER=NONE, DISTANCE_SENSOR=NONE, and OSD=DISABLE. After updating that file and rebooting does the CPU utilization change at all?

@Aaron-Porter The tracking sensor does not need to be straight, but the extrinsics need to reflect the accurate position of the sensor relative to the IMU if you monitor the qvio-overlay in voxl-portal, it's usually obvious what is going on. If you need help interpreting, please post a screen video capture of the qvio-overlay here

@Vinny Thank you so much. Kim,

@ATMA said in Technical specifications VOXL 2 mini: Following on my request. Are you planning to integrate support of the lte device? Timeline? Hello Team Modalai, any feedback on this topic? As the Starling also integrates the Voxl2 it seems at bit like the Voxl 2 mini is more of a future product that needs much more work to be ready. So regarding weight and size savings it could be a great product... Thank you! Cheers Josua