After some additional investigation I was able to resolve this by replacing the include: #include <c_library_v2/common/mavlink.h> with: #include <c_library_v2/development/mavlink.h> in actuator_test.cpp

@JackHammer no problem. This should be the esc param file for the Starling 2 Max motor : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/dev/voxl-esc-params/D0012_Starling_MAX/esc_params_m0129_f2203_5_1500kv_7x3.7x3.xml The param file should also be present in /usr/share/modalai/voxl-esc-params Do you know how to update the esc parameters? systemctl stop voxl-px4 cd /usr/share/modalai/voxl-esc-tools ./voxl-esc-updload-params.py -p <full path to params file> After updating the params, you can run a "power ramp test", as shown here : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/dev/voxl-esc-tools/doc/low_kv_motor_tuning.md?ref_type=heads#power-ramp-test . Use id=255 to spin all motors (and you can limit power to 80%) ./voxl-esc-spin.py --id 255 --power 80 --ramp-time 3.0 --timeout 3.5 --enable-plot 1 --cmd-rate 250 Since you can't display the plot on voxl2, a plot will be saved as html, which you get download from voxl2 and view in a browser. You can do it without propellers (for safety). If all the motors are working properly, the four rpms will be very close to the same as the power ramps (within 100-200 rpm). Otherwise, you may have a bad motor that was damaged during the crash. https://www.modalai.com/products/starling-2-max-replacement-parts?variant=49704826896688 Alex

@Judoor-0 You can use QGroundControl v5 and later. Then once your drone coots and connected to the QGC, mouse click on the desirable position and select Set Estimator Origin option. This will be your [0,0,0] in local frame and [lat, lon, alt] in global [image: 1752642917216-24ef863e-534d-4894-b99d-d1cacd609954-untitled.jpg]

@taiwohazeez The build flow should be like this: cd voxl-mpa-to-ros2 git checkout dev git submodule update --init --recursive voxl-docker -i qrb5165-emulator ./install_build_deps.sh qrb5165 dev ./build.sh qrb5165 dev ./make_package.sh deb

Hi again, From investigating the voxl-vision-hub code with added prints for debug, I see that the setpoint SETPOINT_POSITION_MAGIC_NUMBER is sent to mavlink-server from two functions - (1) _send_current_position() sending the current position, and type-mask ignoring vx,vy,vz,ax,ay,az,yaw_rate // fetch latest position and attitude from px4 itself so the setpoint // we are about to send is a close as possible to where we currently are (2) execute_setpoint_position_command() sending the setpoint as recieved from voxl-planner The implemented behaviour of (1) suits the situation of position+yaw command. However for vx+vy+z+yaw_rate command I think something is missing. Any help will be appreciated. Thank you, Meytal

@James-Strawson hmmm, by any chance are you failing to link against symbols from libgmb.so? That is a new library dependency of libmodal_pipe. Most of our packages use the following linker flags to avoid recursive linking, I think this would be a better solution than specifying the libmodal_pipe version in install_build_deps.sh set(CMAKE_C_FLAGS "-Wl,--unresolved-symbols=ignore-in-shared-libs ${CMAKE_C_FLAGS}") set(CMAKE_CXX_FLAGS "-Wl,--unresolved-symbols=ignore-in-shared-libs ${CMAKE_CXX_FLAGS}")

@KnightHawk06 That is the source, yes.

@Jskim Finally, I tried a test. I tried changing the video player and the Streamer died immediately. The conclusion is that the Streamer died even when it was in the foreground. [image: 1744965805106-%ED%94%8C%EB%A0%88%EC%9D%B4%EC%96%B4-%EB%B3%80%EA%B2%BD%ED%95%98%EB%A9%B4-%EB%B0%94%EB%A1%9C-%EC%A3%BD%EC%9D%8C.jpg] Thanks, JS, Kim

@Rowan-Dempster No problem! Kind of primitive but effective

@teddy-zaremba Temporary fix by just installing missing package: apt-get install -y libwayland-server0:arm64 libwayland-dev:arm64 Also have to install this for voxl-portal apt-get install -y libglib2.0-0:arm64

@Samuel-Lehman In this case you are setting up the voxl-streamer outputs. voxl-mavcam-manager simply informs QGC about which outputs are available to it. You don't need to do anything manually. Just set up a systemd service file for each instance of voxl-streamer. (for example: /etc/systemd/system/voxl-streamer.service)

@brahim Thanks for this advice! I'm working on Windows with WSL and it is impossible for me to build the docker image by following the instructions on the voxl-docker-mavsdk README. I'm still unsure why the image build on the VOXL and not on my WSL Ubuntu, but at least I got it to work.

@mkriesel , there is no way to turn off power to just the IMU. It seems your IMU is "broken" and it may not be safe to use it for any application that might involve moving parts You can try to restart voxl-imu-server, which will perform a complete re-init of the sensor, but this will probably not fix the actual issue even if it helps with temporarily recovering the sensor from the latched state. Alex

@Alex-Kushleyev I understand. Thanks for the quick reply. Thanks, JS, Kim

@MikeD Docker is not installed by default, but you can follow the ubuntu install instructions on VOXL2:https://docs.docker.com/engine/install/ubuntu/

@griffin , this seems like an network issue. So please try the following: open a terminal and just run the following command to "inspect" the hires stream so that it is always going and you can check if it's running any time : voxl-inspect-cam hires_down_small_encoded start a continuous ping test from your host that is trying to receive the video feed keep testing the video feed until you see the issue occur and check if ping is dropping out and double check voxl-inspect-cam output to make sure the data is flowing. What i expect is the output of voxl-inspect-cam should be continuously updating and you may see ping having trouble. Please let me know what you observe. Regarding the voxl2 heating up, i will check with the team. open-vins-server is running (VIO) and it has been recently updated to use GPU for feature detection, so a slight increase in voxl2 temperature may be possible. Alex

Hi @m1baldwin , are you using VOXL1 and VOXL2 ?

@Moderator Have you gone through this document here: https://docs.modalai.com/qgc-wifi/ ?