@Hector-Nevarez Thanks for the quick reply. If the camera server are disabled I guess VIO can not work?

[voxl-configure-extrinsics](https://docs.modalai.com/configure-extrinsics/) provides a tool for configuration, voxl-inspect-extrinsics provides a tool to view the current settings

@Jeremy-Schmidt Ah you are right they are all here, I thought I erased everything when flashing the new image.

Another update that could be useful to someone: I needed to have a high enough frequency on the local position feedback (ROS topic /mavros/local_position/pose) but I was only receiving at 1hz. Usual solution with most FCU is to set the parameter MAV_1_MODE to Onboard but this parameter is not available on the RB5. Instead I added the line mavlink stream -u 14558 -s LOCAL_POSITION_NED -r 100 in /etc/modalai/full-m0052.config to set the stream rate. The end of my file looks like that. # Configure a second mavlink instance for onboard messages (e.g. VIO and VOA) mavlink start -u 14556 -t 127.0.0.1 -n lo -m custom mavlink start -x -o 14540 -u 14558 -n lo sleep 1 mavlink stream -u 14557 -s HIGHRES_IMU -r 5 mavlink stream -u 14557 -s ATTITUDE -r 5 mavlink stream -u 14557 -s RC_CHANNELS -r 20 mavlink stream -u 14558 -s LOCAL_POSITION_NED -r 100 sleep 1 # Start up the IMU server to support VIO imu_server start And this way I managed to get a frequency of around 55hz on /mavros/local_position/pose.

@umlr said in QGroundControl USB connection for sensor calibration: Performing sensor calibration over a WiFi connection is known to be unreliable. You should disconnect and perform calibration using a direct USB connection instead. Alright good to know that calibrating over WiFi is fine. Yes WiFi connection with QGroundControl worked pretty much out-of-the-box.

@MaxG Glad to hear that! Thanks for the update.

I am pretty sure these are m5 not m3.. I pulled an m5 nut out of a bag that I had, and it fit perfectly. The shaft is 3mm, which means its an m5 nut.

We do not have any recommended or supported gimbal solutions at this time, sorry. We have had a difficult time finding one that is readily available. Some folks have had luck with Tarot gimbals though, you could try that.

sorry for the slow reply. We have a bunch of data from our dyno bench here

Hi @benjamin-linne, Supporting more ESCs in the future is definitely on the roadmap, but no hard timelines to provide. In general, the current ESC is interfaced with a UART based driver, eg. here: https://github.com/modalai/px4-firmware/blob/v1.2.x-modalai-rb5-flight-alpha/src/drivers/uart_esc/modalai_esc/modalai_esc_serial.cpp#L50 This UART itself actually resides in the DSP, so it's customizable but we need to get a bit more docs up for this to make it achievable for others!

@Developer-Evaluation Exactly. If you're using an alternate data link for motor control such as LTE or Microhard the RC radio is purely for safety purposes.

Hi @Francesco-Jacomel, We are having a hard time reproducing your issue on our end. Here are the steps we took in order to connect to QGroundControl (Mobile - iPhone) Version 4.0.10 Setup wifi on RB5 by modifying the /data/misc/wifi/wpa_supplicant.conf with our wifi, rebooting the RB5, and connecting our mobile device to the same network which we had setup on the RB5 Open QGroundControl on our mobile device and wait for a connection Following these steps we were able to successfully connect. If these steps were also taken on your end then we think there may be a UDP broadcasting conflict that is causing the issue. We can troubleshoot this by having you make some modifications to your full-m0052.config file on target. You'll want to disable MAV_BROADCAST as well as add your Iphone's IP in the /etc/modalai/full-m0052.config file on target. Configure this file in the appropriate section so it looks as follows: # This is needed for altitude and position hold modes flight_mode_manager start # Add this line to disable MAV_BROADCAST param set MAV_BROADCAST 0 # Edit this line to add your phones IP mavlink start -x -u 14557 -r 40000 -t <Iphone IP> mavlink start -u 14556 -t 127.0.0.1 -n lo -m custom sleep 1 mavlink stream -u 14557 -s HIGHRES_IMU -r 5 mavlink stream -u 14557 -s ATTITUDE -r 5 mavlink stream -u 14557 -s RC_CHANNELS -r 20 sleep 1 Make sure to fill in the IP with your mobile phones IP. On an IPhone you can get the IP by going to settings>Wi-Fi and clicking the info button on your network. After configuring these parameters reboot your RB5 and open the QGC application on the mobile phone and see if the issue is still present. Thank you for being patient with us. If needed, we can also arrange a phone call to try and further troubleshoot this issue.

@modaltb Excellent! Happy to help if you need it. Don't hesitate to reach out to myself or @mrawding