@Inverse-AJ @rogerli Hi, I also struggled with the OBSTACLE_DISTANCE MAVLink message not appearing in the MAVLink Inspector. Moreover, obstacle avoidance was not functioning after I upgraded v1.3.5 to ModalAI SDK v1.5.0. If you're experiencing this issue, ensure the following: Set MPC_POS_MODE to 0 (Simple Position Control) or 3 (Smooth Position Control). The default value (4, Acceleration-based Input) is incompatible with ModalAI’s VOXL platform. Set COM_OBS_AVOID to 1. This enables obstacle avoidance in PX4. Set CP_DIST to a value greater than 0. This specifies the critical distance for collision prevention. Ensure your drone has a valid home position or local position from QVIO. This is required for proper navigation. Ensure your drone is in Position Hold mode. Obstacle avoidance requires this flight mode. Although the OBSTACLE_DISTANCE message does not appear in the MAVLink Inspector, QGroundControl displays the obstacle distance overlay in its telemetry view, and the drone successfully performs obstacle avoidance. Note: This applies to ModalAI SDK v1.5.0; check for updates in newer versions. [image: 1753088579973-f0d0fe9f-61ff-4287-9210-186dafc0879a-untitled.jpg]

@Yufei-Jiang What hardware are you using? Is this PX4 running on VOXL 2?

What have you guys done to stream the video to QGC? do you use a wifi dongle?

@tom that worked, thank you!

@Moderator This is appreciated, I had however already seen these docs. My issue is that though you have a 15cm extension that does not account for the orientation of the Voxl2 in relation to the sensor and location to mount them. due to this the 15cm connector is not long enough. Is there any advice on how we can extend these sensors beyond these lengths? Is there some shielding or other potential signal boosting we can do? Our goal is to eventually be able to position the sensors further away from the voxl2 as we want to use the hardware on much larger platforms where the rear sensors will need to be further than our current test development. TIA for any insight.

@yardy In order to update the kernel variant without re-installing the whole SDK, please follow these instructions: cd <voxl-sdk-release>/system-image # reboot voxl2 into fastboot mode adb reboot bootloader # flash VOXL2 kernel variant 0 fastboot flash boot_a m0054-1-var00.0-kernel.img fastboot flash boot_b m0054-1-var00.0-kernel.img fastboot reboot # OR flash VOXL2 kernel variant 1 fastboot flash boot_a m0054-1-var00.1-kernel.img fastboot flash boot_b m0054-1-var00.1-kernel.img fastboot reboot You can also test the kernel without overwriting it (the original kernel will be retained after voxl2 reboot: adb reboot bootloader fastboot boot m0054-1-var00.0-kernel.img # OR fastboot boot m0054-1-var00.1-kernel.img The latter method is useful when you are not sure if the kernel you are about to try actually works (when you are experimenting with building your own kernel) - you can try the new kernel without the risk of temporarily bricking your board. Alex

@Moderator ok thanks, do you know if VOXL2 can do multiple drone communication ? seems cant find this on VOXL website?

@ashwin Unfortunately, Qualcomm does not allow others to distribute the Hexagon SDK. It has to come directly from them.

@brandon Do you have a plastic spudger tool? Something like this. A plastic tool will significantly reduce the possibility of damaging any components (compared to using anything hard like metal). Press only on the metal part of the connector to prevent warping that plastic nub end. Typically we use a fingernail to press those connectors in place but for that connector in particular it would be hard to reach with a fingernail. [image: 1746037900033-6d21bb38-e0a6-4d12-b21a-d201dd4fc446-image.png]

@Alex-Kushleyev Hi @yardy Are you using the jumper blocks J14.15/J14.17 to JP1.10/JP1.12 respectively for QUP_19? It was connected to JP1.9/JP1.11 (because of the jumpers... I was wrong) It's working! Many thanks

@inteous yes, there are a number of considerations Please see: https://docs.modalai.com/configure-extrinsics/ https://docs.modalai.com/calibrate-cameras/