@linmur02 When you say "latest", which version, specifically, are you using? Yes, the FC V2 does have an internal magnetometer, but in both the ModalAI fork and on mainline the internal magnetometer is not enabled so any mag issues should be related to the mag on the GPS unit. Is the GPS being seen reliably? The barometer is on the board and shouldn't have any issues. If you disconnect that GPS unit do you still see occasional barometer missing errors? Also, can you start swapping out hardware to see if the issues are related to a hardware problem?

Thanks @joseph-vale for the kind words.
We will continue to try our best
Our success only comes with your success.

Hi @will-huang-oksi

Sorry there is not much else I can offer. I'd need to have the HW in my hands to diagnose.

I'd start with the basics, Power. It is possible you blew the VBUS protection circuit that feeds J3 VBUS. It is also possible that GPIO_157 which enables VBUS on J3 is not correctly set in SW.
However, I still ask you discontinue use of M0151 for Doodle as you will have problems in the future and we cannot continue to support that.

Please follow the guidance listed in our cable page for Doodle. Those boards listed do not use the "VBUS" from J3 (rather we power switch the 5V DC Local with proper Hub monitoring), so you can likely recover proper functionality and continue with your efforts.
Thanks!

Hi @joseph-vale
Great, thanks for clarifying.
Apologies our website is not always perfect. It is maintained by us Engineers, so we often take some info for granted. I am a few years delinquent in adding image sensor design guidance to our tech docs
All our MIPI_CSI lines are indeed 100-Ohm Differential, so the IPEX mate will match.
We include ESD protection on all MIPI CSI and I2C and GPIO/MCLK signals at the VOXL 2 J6, J7, and J8 connectors, so no need to double protect (or you can impact the bus signal quality with the added capacitance).

When you get to the point of generating a schematic, I will offer a courtesy review. Ping me on this thread again and then I can email you privately to share if you wish.

One thing we did on our Coax design was plan on always using the same 26-pin cable, so it is our adapters that vary in pinouts, but our cable is always the fully populate 26 conductor DF56 series.
For Boson/Hadron, we use multiple conductors of 5V. We set that based on the DCR spec of our coax cable, so with your IPIEX cables, you can do something similar to achieve success.
We were also advised by Hirose to NOT use the outer shield as current carrying, so for every +DC path, we have a return GND conductor.

Keep us posted!

@marian Unfortunately VOXL1 has really been phased out but this board has the "fastboot" button on it and should work for you: https://www.modalai.com/collections/expansion-board/products/voxl-microhard-modem-usb-hub

@Alex-Kushleyev The IMU is being configured with an 8K ODR so by increasing IMU_GYRO_RATEMAX you are reading the FIFO more often but reading less samples each time. So you are mainly increasing the overhead of context switching. Can you characterize how much the load increases just by increasing IMU_GYRO_RATEMAX and not doing any of the extra UART IO? Unfortunately we don't have a lot of control over the low level implementation of the IO drivers that are in the Qualcomm code. And there is no DMA that could help lower IO overhead. One idea would be to lower the ODR to 1K so that you are only reading one sample from the FIFO at each interrupt.

@nitinpatil Regarding question #3, both ArduPilot and PX4 are supported. Since most of our customers are currently using PX4 we have much more experience with that.

@tom

@will-huang-oksi Take a look here at MCBL-0085: https://docs.modalai.com/cable-datasheets/#mcbl-00085
The add-on board you're using it not capable of providing enough power for the doodle modem and this may be the cause of your issues.

@will-huang-oksi Can you be more clear on which connector you're referring to? https://docs.modalai.com/voxl2-connectors/