Hey Arvind,
Could you try using this version of voxl-camera-server: http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/voxl-camera-server_2.2.32-202607291154_arm64.deb
Im able to get 2 camera streams, and every time I click the save picture button on QGC I see the snapshots saved without any issues.
Heres some versions of my packages I am using:
voxl-camera-server 2.2.32
voxl-mavcam-manager 0.6.1-202601081558
voxl-streamer 0.8.1
We've found that mission planner does not always reconnect to the autopilot after a reboot so we have adopted a policy to disconnect and reconnect mission planner after performing a reboot. We have found that this causes voxl-ardupilot to crash.
Steps:
Mission Planner will reconnect but when it tries to download the params list from the autopilot the data stream stops and the motors beep indicating loss of signal from the autopilot. Restarting voxl-ardupilot with systemctl resolves the issue but this is a consistent problem.
Performing a full power cycle does not recreate this issue. Mission Planner can be disconnected and reconnected without issue.
systemctl status voxl-ardupilot - Before crash
voxl2 (M0054):~$ systemctl status voxl-ardupilot
● voxl-ardupilot.service - ArduPilot
Loaded: loaded (/etc/systemd/system/voxl-ardupilot.service; enabled; vendor preset: enabled)
Active: active (running) since Tue 2026-07-28 18:59:14 UTC; 2min 52s ago
Process: 2173 ExecStartPre=/bin/sleep 1 (code=exited, status=0/SUCCESS)
Main PID: 2320 (voxl-ardupilot)
Tasks: 8 (limit: 4915)
CGroup: /system.slice/voxl-ardupilot.service
├─2320 /bin/bash /usr/bin/voxl-ardupilot
└─2323 /usr/bin/ardupilot
Jul 28 18:59:13 m0054 systemd[1]: Starting ArduPilot...
Jul 28 18:59:14 m0054 systemd[1]: Started ArduPilot.
Jul 28 18:59:14 m0054 voxl-ardupilot[2320]: Starting up
Jul 28 18:59:14 m0054 voxl-ardupilot[2320]: Got data msg before configuration complete
systemctl status voxl-ardupilot - After crash
● voxl-ardupilot.service - ArduPilot
Loaded: loaded (/etc/systemd/system/voxl-ardupilot.service; enabled; vendor preset: enabled)
Active: active (running) since Tue 2026-07-28 19:07:34 UTC; 1min 40s ago
Process: 6178 ExecStartPre=/bin/sleep 1 (code=exited, status=0/SUCCESS)
Main PID: 6199 (voxl-ardupilot)
Tasks: 8 (limit: 4915)
CGroup: /system.slice/voxl-ardupilot.service
├─6199 /bin/bash /usr/bin/voxl-ardupilot
└─6200 /usr/bin/ardupilot
Jul 28 19:09:07 m0054 voxl-ardupilot[6199]: Got response cb 0
Jul 28 19:09:08 m0054 voxl-ardupilot[6199]: Got response cb 0
Jul 28 19:09:09 m0054 voxl-ardupilot[6199]: Got response cb 0
Jul 28 19:09:09 m0054 voxl-ardupilot[6199]: Got response cb 0
Jul 28 19:09:10 m0054 voxl-ardupilot[6199]: Got response cb 0
Jul 28 19:09:11 m0054 voxl-ardupilot[6199]: Got response cb 0
Jul 28 19:09:12 m0054 voxl-ardupilot[6199]: Got response cb 0
Jul 28 19:09:13 m0054 voxl-ardupilot[6199]: Got response cb 0
Jul 28 19:09:14 m0054 voxl-ardupilot[6199]: Got response cb 0
Jul 28 19:09:14 m0054 voxl-ardupilot[6199]: Got response cb 0
Jul 28 19:09:15 m0054 voxl-ardupilot[6199]: Got response cb 0
voxl2 (M0054):~$
voxl-version
voxl2 (M0054):~$ voxl-version
────────────────────────────────────────────────────────────────────────────────
system-image: 1.8.06-M0054-14.1a-perf
kernel: #1 SMP PREEMPT Wed Oct 22 04:13:18 UTC 2025 4.19.125
────────────────────────────────────────────────────────────────────────────────
hw platform: M0054
mach.var: 1.0.1
SKU: MCCA-M0054-C0-T0-M0-X0
────────────────────────────────────────────────────────────────────────────────
voxl-suite: 1.6.3
────────────────────────────────────────────────────────────────────────────────
Packages:
Repo: http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-1.6/binary-arm64/
Last Updated: 2026-07-28 17:00:51
List:
libfc-sensor 1.0.9
libmodal-cv 0.6.0
libmodal-exposure 0.1.4
libmodal-flow 1.0.3
libmodal-journal 0.2.7
libmodal-json 0.4.8
libmodal-pipe 2.14.11
libqrb5165-io 0.6.3
libvoxl-cci-direct 0.3.3
libvoxl-codec 0.0.5
libvoxl-cutils 0.1.6
modalai-slpi 1.2.2
mv-voxl 0.1-r0
qrb5165-bind 0.1-r0
qrb5165-dfs-server 0.2.0
qrb5165-mini-tof-server 0.2.2
qrb5165-rangefinder-server 0.1.6
qrb5165-slpi-test-sig 01-r0
qrb5165-tflite 2.17.2
voxl-ardupilot 4.8.0-8ed7441c
voxl-bind-spektrum 0.1.1
voxl-camera-calibration 0.6.1
voxl-camera-server 2.2.25
voxl-ceres-solver 2:2.0.0-2
voxl-configurator 1.1.5
voxl-cpu-monitor 0.7.7
voxl-docker-support 1.3.1
voxl-elrs 1.1.0
voxl-esc 1.5.7
voxl-esptool 0.2.0
voxl-feature-tracker 0.5.2
voxl-flow-server 0.3.6
voxl-gphoto2-server 0.0.10
voxl-imu-server 2.0.1
voxl-io-server 0.0.8
voxl-jpeg-turbo 2.1.3-7
voxl-lepton-server 1.3.3
voxl-lepton-tracker 0.0.4
voxl-libgeographic 1.0.0
voxl-libgphoto2 0.0.4
voxl-libuvc 1.0.7
voxl-logger 0.6.1
voxl-mavcam-manager 0.6.0
voxl-mavlink 0.1.6
voxl-mavlink-server 1.4.14
voxl-microdds-agent 3.0.0-0
voxl-modem 1.2.3
voxl-mongoose 7.19.0
voxl-mpa-to-ros 0.3.9
voxl-mpa-to-ros2 0.0.7
voxl-mpa-tools 1.5.8
voxl-nano-tracker 0.1.7
voxl-open-vins-server 0.6.0
voxl-opencv 4.5.5-3
voxl-osd 0.3.8
voxl-portal 0.8.7
voxl-px4 1.14.0-2.0.133
voxl-px4-params 0.9.0
voxl-qvio-server 1.2.3
voxl-remote-id 0.0.9
voxl-reset-slpi 0.0.1
voxl-ros2-foxy 0.0.1
voxl-state-estimator 0.0.6
voxl-streamer 0.8.0
voxl-suite 1.6.3
voxl-tag-detector 0.1.0
voxl-tflite-server 0.5.1
voxl-utils 2.0.2
voxl-uvc-server 0.1.7
voxl-vision-hub 1.9.21
voxl-vtx 2.0.2
voxl-wavemux 0.0.3
voxl2-io 0.0.3
voxl2-security-hardening-utls 1.0-r0
voxl2-system-image 1.8.06-r0
voxl2-wlan 1.0-r0
voxl-inspect-services
voxl2 (M0054):~$ voxl-inspect-services
Scanning services...
Service Name | Enabled | Running | CPU Usage
───────────────────────────────────────────────────────────────────
docker-autorun | Disabled | Not Running |
modallink-relink | Disabled | Not Running |
voxl-ardupilot | Enabled | Running | 0.0%
voxl-camera-server | Enabled | Running | 0.0%
voxl-cpu-monitor | Enabled | Running | 0.0%
voxl-dfs-server | Disabled | Not Running |
voxl-dma-latency | Enabled | Running |
voxl-feature-tracker | Disabled | Not Running |
voxl-flow-server | Disabled | Not Running |
voxl-imu-server | Enabled | Running | 3.5%
voxl-io-server | Disabled | Not Running |
voxl-lepton-server | Disabled | Not Running |
voxl-lepton-tracker | Disabled | Not Running |
voxl-logger | Disabled | Not Running |
voxl-mavcam-manager | Disabled | Not Running |
voxl-mavlink-server | Enabled | Running | 0.0%
voxl-microdds-agent | Enabled | Running |
voxl-mini-tof-server | Disabled | Not Running |
voxl-modem-doodle | Enabled | Running | 0.0%
voxl-modem | Enabled | Running | 1.8%
voxl-nano-tracker | Disabled | Not Running |
voxl-open-vins-server | Disabled | Not Running |
voxl-osd | Disabled | Not Running |
voxl-portal | Enabled | Running | 0.0%
voxl-px4 | Disabled | Not Running |
voxl-qvio-server | Disabled | Not Running |
voxl-rangefinder-server | Disabled | Not Running |
voxl-remote-id | Disabled | Not Running |
voxl-softap | Disabled | Not Running |
voxl-state-estimator | Disabled | Not Running |
voxl-static-ip-watcher | Disabled | Not Running |
voxl-static-ip | Disabled | Not Running |
voxl-streamer | Disabled | Not Running |
voxl-tag-detector | Disabled | Not Running |
voxl-tflite-server | Disabled | Not Running |
voxl-time-sync | Disabled | Not Running |
voxl-uvc-server | Disabled | Not Running |
voxl-vision-hub | Enabled | Running | 1.8%
voxl-vrx | Disabled | Not Running |
voxl-vtx | Disabled | Not Running |
voxl-wait-for-fs | Enabled | Completed |
voxl-mavlink-server.cfg
/**
* voxl-mavlink-server Configuration File
*
* primary_static_gcs_ip & secondary_static_gcs_ip
* These configure voxl-mavlink-server to automatically try to connect to
* up to two known static GCS units. Set to empty or NULL if you don't want
* to use this and you want the GCS to initialize the connection instead.
* Note the default IP for the primary link is 192.168.8.10 which is the
* first IP that VOXL DHCP serves when connecting in wifi softap mode.
*
* DON'T set either of these ip addresses to localhost, these are meant
* for external ground control stations. For mavsdk and mavros communication
* locally, set the 'en_localhost_mavlink_udp' flag in voxl-vision-hub's
* /etc/modalai/voxl-vision-hub.conf file instead.
*
* primary_static_gcs_ip_port & secondary_static_gcs_ip_port
* UDP port numbers for the static GCS IPs above, default to 14550 each, respectively
*
* Settings for running voxl-px4 on SLPI:
* onboard_port_to_autopilot - UDP port to send high-rate onboard data to SLPI
* onboard_port_from_autopilot - UDP port to receive high-rate onboard data from SLPI
* gcs_port_to_autopilot - UDP port to send normal-rate gcs data to SLPI
* gcs_port_from_autopilot - UDP port to receive normal-rate gcs data from SLPI
*
* Settings for running an external autopilot connected via UART:
* en_external_uart_ap - set to true to enable an external flight controller
* autopilot_uart_bus - uart bus, default 1 for VOXL2
* autopilot_uart_baudrate - default 921600
* autopilot_mission_delay_start - default -1 (off), >0 means to delay mission start for X seconds
* autopilot_mission_delay_sound - play esc chime tone/behavior, true=on false=off
* autopilot_mission_notif_dur - visual notification using motor spin, duration in seconds
* en_external_fc_timesync - enable responding to timesync messages
* (enabled by default)
* en_external_ap_heartbeat - enable automatic sending of heartbeat
* gcs_timeout_s - time without heartbeat to consider GCS disconnected
*
* udp_mtu - maximum transfer unit for UDP packets back to GCS. voxl-mavlink-server
* will bundle up backets for the GCS into a single UDP packet with
* a maxium size of this. This saves network traffic drastically.
* Set to 0 to disable this feature and send one UDP packet per msg.
*
*
* External FC field is for QRB5165 only. Set to true to enable UART
* communication to an external flight controller, otherwise a UDP interface
* will be started to talk to voxl-px4 on localhost which is the default behavior.
* Select UART port 1 to go through the legacy B2B connector, that's the port exposed by the
* M0125 and M0141 accessory boards. Use port 12 to go through the ESC port (J18).
*
*/
{
"primary_static_gcs_ip": "10.223.0.12",
"primary_static_gcs_ip_port": 14550,
"secondary_static_gcs_ip": "10.223.0.202",
"secondary_static_gcs_ip_port": 14550,
"onboard_port_to_autopilot": 14556,
"onboard_port_from_autopilot": 14557,
"gcs_port_to_autopilot": 14558,
"gcs_port_from_autopilot": 14559,
"en_external_uart_ap": false,
"autopilot_uart_bus": 1,
"autopilot_uart_baudrate": 921600,
"autopilot_mission_delay_start": -1,
"autopilot_mission_delay_sound": false,
"autopilot_mission_force_restart": 0,
"autopilot_mission_notif_dur": 0.1,
"en_external_ap_timesync": 1,
"en_external_ap_heartbeat": 1,
"udp_mtu": 500,
"gcs_timeout_s": 4.5
}
Hi ZBFT,
Q:Do you need VIO estimates to be always continuos or reset jumps are okay?
A: we are exploting a tunnel for the first time.we use the poshold durung junction turns to hold in place during turbolance. my answer would be we can live with resets assuming we can accumulate the positions for mapping between the resets.
Q:If you need VIO during takeoff and your application is not robust to SFM resets (potential jump discontinuity), I recommend never using dynamic init and warm reset
A:We need it mostly because users with no FPV know how have hard time to keep altitude and control the drone position.
Q:Convergence for a initialization would usually refer to a dynamic initialization (nonlinear optimization), as the static initialization does not involve optimization. That being said, some static inits can be bad as soon as the platform is in the air: noisy ZUPT updates, bad IMU calibration and sigma/random-walk values. This is natural under custom frame mods, perhaps a full IMU intrinsics recalibration could help.
A:We are not using custom frame its the starling max 2
Nevertheless, it seems that you're running VIO by passing estimates to PX4, instead of using VFC Position (Local Controller with VIO estimates that send just setpoints to PX4). I am personally curious if the issues you're having are related to the PX4 integration with VIO estimates or if it's truly pure VIO estimates.
how do we make sure what you are saying is right and we are passing estimates to px4 ?
do you want me to enable vfc and see if it works bettter. what should I expect ?
What is your EV_q (quality minimum) in PX4? Also what your HGT ref?
HGT_REF=3 //VIO
EKF2_EV_QMIN=16
EKF2_EV_CTRL=15
Thanks.
Roy
MPA to ROS2 can be found here: https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-to-ros2
Hi ZBFT,
it seems like your recomendation to OV realy helped improving many things that we could not understand. now the flights are much more robust and we have less vio issue during the run.
We are still struggling to make the vio converege for the first time. We Never know if it going to work on our first takeoff although we wait for "ready to fly" some time it wont hold and after takeoff we will get a message saying VIO_WAIT and during this time although drone is in position mode it will not hold altuitude nor hor,ver.
Now we made a sequence that restart the vins service and wait for good in voxl-inspect-vins. still sometimes it fails to converge. Can you recomend what is the best sequence one should do to get convergence in high precentage after power cycle ?
BR,
Roy
you post a page regarding version upgrade.
somethinig is not clear.
currently we have few starlilng 2 max all were shipped with 1.6.4_alpha2
when we did apt upgrade the version was upgraded to 1.6.6
when we done it on another platform it was upgraded to 1.7.0 alpha.
we noticed that apt source list was not the same.
can you please make it clearer.
are there any release notes we can review ?
what is your recomendation ? we think its better to stay with 1.6.x and get more and more fixes before changing to major 1.7
please supply some more inforamtion this subject is unclear.
BR,
Roy
That's weird. It's working now:
voxl2-test-fixture (TF-M0054):/usr/share/modalai/voxl-esc-tools$ ./voxl-esc-spin.py --id 255 --power 0
Detected Python version : 3.6.9 (default, May 22 2025, 20:54:22)
[GCC 8.4.0]
Found voxl-esc tools bin version: 1.9
VOXL Platform: M0054
Detected RB5 Flight, VOXL2 M0054 or M0104!
INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 2000000
Sending library name request: libslpi_qrb5165_io.so
Sending initialization request
INFO: ESC(s) detected on port: /dev/slpi-uart-2, baud rate: 2000000
ID : 0
Board : version 42: ModalAi 4-in-1 ESC (M0138-1)
UID : 0x203837304848570400480052
Firmware : version 39, hash a58f5f6f
Bootloader : version 187, hash aad89d63
ID : 1
Board : version 42: ModalAi 4-in-1 ESC (M0138-1)
UID : 0x203837304848570400490045
Firmware : version 39, hash a58f5f6f
Bootloader : version 187, hash aad89d63
ID : 2
Board : version 42: ModalAi 4-in-1 ESC (M0138-1)
UID : 0x20383730484857040029004D
Firmware : version 39, hash a58f5f6f
Bootloader : version 187, hash aad89d63
ID : 3
Board : version 42: ModalAi 4-in-1 ESC (M0138-1)
UID : 0x20383730484857040029004E
Firmware : version 39, hash a58f5f6f
Bootloader : version 187, hash aad89d63
WARNING:
This test requires motors to spin at high speeds with
propellers attached. Please ensure that appropriate
protective equipment is being worn at all times and
that the motor and propeller are adequately isolated
from all persons.
For best results, please perform this test at the
nominal voltage for the battery used.
Type "Yes" to continue: yes
[0.017] (0) RPM: 0, PWR: 0, VOLTAGE: 0.000V, TEMPERATURE: 0.00C, CURRENT: 0.000A
[0.017] (1) RPM: 0, PWR: 0, VOLTAGE: 23.647V, TEMPERATURE: 37.39C, CURRENT: 0.000A
[0.017] (2) RPM: 0, PWR: 0, VOLTAGE: 0.000V, TEMPERATURE: 0.00C, CURRENT: 0.000A
[0.017] (3) RPM: 0, PWR: 0, VOLTAGE: 0.000V, TEMPERATURE: 0.00C, CURRENT: 0.000A
[0.035] (0) RPM: 0, PWR: 0, VOLTAGE: 0.000V, TEMPERATURE: 0.00C, CURRENT: 0.000A, BOARD_VOLTAGE: 23.654V, BOARD_CURRENT: 0.016A
[0.035] (1) RPM: 0, PWR: 0, VOLTAGE: 23.647V, TEMPERATURE: 37.39C, CURRENT: 0.000A, BOARD_VOLTAGE: 23.654V, BOARD_CURRENT: 0.016A
[0.035] (2) RPM: 0, PWR: 0, VOLTAGE: 23.654V, TEMPERATURE: 37.97C, CURRENT: 0.000A, BOARD_VOLTAGE: 23.654V, BOARD_CURRENT: 0.016A
[0.035] (3) RPM: 0, PWR: 0, VOLTAGE: 0.000V, TEMPERATURE: 0.00C, CURRENT: 0.000A, BOARD_VOLTAGE: 23.654V, BOARD_CURRENT: 0.016A
[0.058] (0) RPM: 0, PWR: 0, VOLTAGE: 23.652V, TEMPERATURE: 31.38C, CURRENT: 0.000A, BOARD_VOLTAGE: 23.654V, BOARD_CURRENT: 0.016A
[0.058] (1) RPM: 0, PWR: 0, VOLTAGE: 23.647V, TEMPERATURE: 37.39C, CURRENT: 0.000A, BOARD_VOLTAGE: 23.654V, BOARD_CURRENT: 0.016A
[0.058] (2) RPM: 0, PWR: 0, VOLTAGE: 23.654V, TEMPERATURE: 37.97C, CURRENT: 0.000A, BOARD_VOLTAGE: 23.654V, BOARD_CURRENT: 0.016A
[0.058] (3) RPM: 0, PWR: 0, VOLTAGE: 23.593V, TEMPERATURE: 31.06C, CURRENT: 0.000A, BOARD_VOLTAGE: 23.654V, BOARD_CURRENT: 0.016A
[0.074] (0) RPM: 0, PWR: 0, VOLTAGE: 23.652V, TEMPERATURE: 31.38C, CURRENT: 0.000A, BOARD_VOLTAGE: 23.656V, BOARD_CURRENT: -0.104A
BAT1_SOURCE set to POWER MODULE in QGC fixed the problem.
TOPIC: battery_status
battery_status
timestamp: 332496007 (0.011529 seconds ago)
voltage_v: 23.70500
voltage_filtered_v: 23.70641
current_a: -0.08000
current_filtered_a: -0.07003
current_average_a: 15.00000
discharged_mah: 0.00138
remaining: 0.70196
scale: 1.04008
time_remaining_s: 673.87732
temperature: nan
voltage_cell_v: [0.00000, 0.00000, 0.00000, 0.00000, 0.00000, 0.00000, 0.00000, 0.00000, 0.00000, 0.00000, 0.00000, 0.00000, 0.00000, 0.00000]
max_cell_voltage_delta: 0.00000
custom_faults: 0
average_power: 0.00000
available_energy: 0.00000
full_charge_capacity_wh: 0.00000
remaining_capacity_wh: 0.00000
design_capacity: 0.00000
nominal_voltage: 0.00000
capacity: 4000
cycle_count: 0
average_time_to_empty: 0
serial_number: 0
manufacture_date: 0
state_of_health: 0
max_error: 0
interface_error: 0
faults: 0
average_time_to_full: 0
over_discharge_count: 0
connected: True
cell_count: 6
source: 0
priority: 0
id: 1
is_powering_off: False
is_required: False
warning: 0
mode: 0
