@Jetson-Nano It should be no different than with any other flight controller hardware running PX4. The PX4 documentation should be able to explain how to do that.

@Jetson-Nano Yes, that should work. You should be able to send heartbeats from a Python script using pymavlink and connect to the flight controller via voxl-mavlink-server. Then you should start receiving all the normal messages sent out by the flight controller to the GCS which should include the RC channels message.

@Jetson-Nano Probably should also look at the pipe for messages from the flight controller to the GCS (Labeled mavlink_to_gcs in the above diagram but you'll have to double check that name). Generally the flight controller is configured with two mavlink streams. One is the onboard stream that has high rate messages and is intended for local use (e.g. on VOXL or VOXL 2) and the other is more the default settings for communication with a GCS. You can configure what each of these streams contain in PX4. You can add streams, change stream rates, etc. all via PX4 configuration. Please refer to the PX4 documentation for details on how to do this.

@Jetson-Nano Since you don't have voxl-px4 running I think that data is likely coming from your external flight controller

@czarsimon Can you verify whether your board has a QSM8250 (M0054-2) or a QRB5165 (M0054-1) and that you're flashing the correct QDL image as well as kernel choice when flashing the SDK?

https://docs.modalai.com/m0054-versions/#m0054-1-and-m0054-2

@Jia-Wan Yes, you should be able to do your testing with SITL before trying it on Starling.

@Jetson-Nano I could have the naming wrong. If you inspect mavlink_onboard what kind of data do you see?

@Jia-Wan You can specify a secondary GCS link in the voxl-mavlink-server configuration file (/etc/modalai/voxl-mavlink-server.conf). This can be used to send your mavlink commands from your automation program.

@Kiazoa-Joao Figure 8 code is here: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-vision-hub/-/blob/master/src/offboard_figure_eight.c?ref_type=heads. You can use that as a reference to make it do whatever you want.

@antenna-eng When the switch is set to OFF and the board is powered and plugged in to your machine, what do you see with lsusb?