@RichieRich Hi rich thanks for response. After reboot everything went normal, In this flight we the aid mask was default 1.

Yes, that should be fine VOXL Micro SD Card SDXC Version 3.0 up to 2TB PX4 Supported SD Cards SDHC version 2 up to 32GB Datasheets updated to include: https://docs.modalai.com/voxl-datasheets-functional-description/ https://docs.modalai.com/flight-core-datasheets-functional-description/

@Alex-Kushleyev So I have a BMI088 plugged in there, so I was adding IMU4 to not lose support for MPU as well. However, I did as you suggest as a sanity check, and yes I can see it trying to clock. I must have a problem somewhere else, thank you this was very helpful.

Hi! The hardware on voxl only supports a stereo pair out of the J3 connector. However, you could absolutely plug in fisheye cameras instead of the pinhole ones if you're just trying to get a better field of view. Additionally, the system is setup to be able to support that same ov7251 camera in both the J2 and J4 ports, so you could in theory have 4 fisheye cameras concurrently. NOTE: voxl-camera-server (opensource) is not set up to to handle multiple cameras of the same type since we don't actively support any camera configurations like that. It's very doable though, you'd have to check the camera IDs for the configuration that you create and mod camera server if you're trying to use our standard software stack (so you can out of the box support 3 fisheye cameras, and it would only take some userspace coding to support 4)

If you're not heart-set on monitoring these externally, we already have a voxl-cpu-monitor process that will monitor the temperature, utilization, and frequency of the cores. You can see an in-terminal display of these values with voxl-inspect-cpu, and the source is a good way to see how to monitor this data within a c program. As for the cutoffs, the system tries to maintain under 100C (so you should never see anything above this reported in software), if it does start to get above this, the PMIC will start removing power and shutting off cores. It's generally pretty hard to actually trigger the PMIC even under heavy loads as long as there's any sort of heat distribution around the voxl. The only time's we've done this in the lab in the last 2 years is with a seeker sitting on a desk, even the propwash in flight is enough to cool it.

@Avihay-Gil There is a fairly in depth tutorial on how to use the hardware in the loop simulation software on YouTube here: https://www.youtube.com/watch?v=-uoIxAkiYtk

How far away from the cameras is that wall? That disparity image looks pretty good and at least proportionally to each other the obstacle avoidance bins look right (middle and left are about the same, a closer one on the right where it saw those dots of light on the wall). We are aware that the 3d reprojection is often better around the distance that the calibration cards are when the extrinsics are calibrated, and are trying to work out a solution to make the reprojection more reliable at farther distances.

Hi, Thanks for the link, i have been following that tutorial but when i connect my voxl flight to Qgroundcontrol i get my drone is "not ready" . ive set it to HITL mode. It says one of the sensors need calibration but wont allow me to do it - [image: 1645626431714-capture.jpg] [image: 1645626437840-capture1.jpg] [image: 1645626315959-photo_2022-02-23_15-24-17.jpg]

I would first test functionality of the voxl-flight in terms of being able to both ADB into the voxl and connect to QGC. If all goes well with that then I'd check the px4 firmware version on the flight core side and no matter what it's at currently I'd go ahead and re-flash with our latest px4 firmware which is obtainable via our downloads. This link should contain all information and relevant links to complete this update of the firmware. https://docs.modalai.com/flight-core-firmware/

Hi Ahmad, U33 on all Voxl and Voxl Flight boards are the same TXS0102YZPR. The "2H" is indicative of that, with other markings as per TI. [image: 1644873062169-7a0eed09-79b9-408b-b5b0-c05ae5458857-image.png] Hope this helps. Let us know if you have any other questions. Thanks! Vinny

@James-Strawson hello there James. I've been dumbfounded by the "IMUs" page in your documentation for quite some time now so I'm very thankful that you took that on.^^ Can you please clarify a few things for me here: 1:What do you mean by 'likely DNI'd' for Fligh Ccore IMU3? Sorry, I actually don't know what that means. 2: For now I'm only using the Flight Core -part of the VOXL-Flight so does that mean PX4 by itself is always only using the 20602 and the 42688p? 3: I've tried using the suggested command "voxl-configure-mpa" in an SSH shell, via ADB and in QGC's nutshell CLI but always get an error "command not found". Where exactly would I use that? Using other "voxl-" related commands usually work no matter where I enter them so could you please maybe point me in the right direction? Here's the output when checking for present IMUs: [image: 1644262881378-px4-voxl_imus.jpg] Thanks a lot for all your guys' work and a nice week to everyone. Cheers.

Is this a custom setup? If so, my first guess would be that the extrinsic pareters between camera and IMU have not been set Check out the debugging section in this document https://docs.modalai.com/flying-with-vio/#troubleshooting-vio

@Chad-Sweet so we find the problem it was the rubber dumpers that we put to hold the voxlflight , it seems that they were too soft and added vibration to the board . we took them out and the problem solved. do you have recommendation about required suspension/vibration absorber for the board? or there is no need ?

I'm not sure if you can have 2 slaves join the same network. From my understanding these modems only support 1 master and 1 slave

The list of supported camera configurations is here I think you would want to run a second qvio-server and merge the results in vvpx4 You could use one of the stereo sensors for that today and point the tracking sensor in a different direction

So, here is how we solved our issue. Even though EKF2 bitmask was set to only listen to GPS, heading still appeared to take VIO into consideration. After turning off VIO on VOXL we got MUCH better readings. Then, after we realized this, we changed out bitmask to 329 (which is in the instructions for flying outdoors without GPS here: https://docs.modalai.com/flying-without-gps/ So, our problem appears to be resolved right now. We just need to test repeatability for this solution

That really depends on the environment. VIO is not limited in height, but does require visible features to track with computer vision

Hi @relevinsky , We use an external mag (we ship our m500s with the Holybro "2nd" GPS with the 6 pin connector) and it plugs into here: https://docs.modalai.com/voxl-flight-datasheet-connectors/#j1012---external-gps--mag-usart1-i2c1-connector