ModalAI Forum

Posts

• ---

  vio problem
  R RoyAzriel

  Hi ZBFT,
  We have done the steps you recomended both with 1.6.4 alpha2 version in with 1.6.6 version.
  canceling qvio, making sure only one open-vins service regarding vio. recalibrating imu.
  The drone is still loosing horizontal pos at the same manuver( sliding to the left when there is a wall in front)
  I want to proved you with some facts.

  1. we reverted back to a code we know worked well before and suddenly we experiance this problem. ( made us syspect somthing changed in hw ( some kind of movment of camera or lense because of a crash)
  2. the qvio with 1.6.4 alpha2 version with qvio was working perfectly with this version of ours and now it not failing in the same manuver again and again.
  3. we double check all px4 params against a golden copy.
  4. The other possiblity that it is something wrong in our appication is also a possiblity( we have two drone acting the same)
     can you guide us what other information we can log in order to trace why vio pos suddenly jumps to a far horizontal position. what can explain such a behavior ?

  BR,

  Roy

  VOXL 2

• ---

  Significant Motor Desync During Actuator Testing
  P PatkirkMartin

  Hardware

  • VOXL2 (MDK-M0154-1-01)
  • VOXL ESC FPV 4-in-1 (MDK-M0138-11-00)

  Software Version (voxl-version)

  voxl2-test-fixture (TF-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:          TF-M0054-4-V1-C11
  ────────────────────────────────────────────────────────────────────────────────
  voxl-suite:   1.6.3
  ────────────────────────────────────────────────────────────────────────────────
  Packages:
  Repo:  http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-1.6/binary-arm64/
  Last Updated: 2023-03-02 12:58:39
  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                  0.0.2
  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-bind-spektrum             0.1.1
  voxl-camera-calibration        0.6.1
  voxl-camera-server             2.2.19
  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-modem                     1.2.3
  voxl-mongoose                  7.19.0
  voxl-mpa-to-ros                0.3.9
  voxl-mpa-tools                 1.5.6
  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-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
  ────────────────────────────────────────────────────────────────────────────────
  
  

  Services/Config (voxl-inspect-services)

  voxl2-test-fixture (TF-M0054):/$ voxl-inspect-services
  Scanning services...
  
   Service Name             |  Enabled  |   Running   |  CPU Usage
  ───────────────────────────────────────────────────────────────────
   docker-autorun           | Disabled  | Not Running |  
   modallink-relink         | Disabled  | Not Running |  
   voxl-camera-server       |  Enabled  | Not Running |  
   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   |     3.8%
   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-mini-tof-server     | Disabled  | Not Running |  
   voxl-modem-doodle        | Disabled  | Not Running |  
   voxl-modem               | Disabled  | Not Running |  
   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   |     1.9%
   voxl-vrx                 | Disabled  | Not Running |  
   voxl-vtx                 | Disabled  | Not Running |  
   voxl-wait-for-fs         |  Enabled  |  Completed  |  
  

  I am doing some bench testing with my VOXL ESC FPV 4-in-1 and noticing significant motor desync. There is an audible 0.25 second delay between spinup of motor 1, then 2, etc. I have loaded the sentinel param XML file (I am using a custom aircraft, not the sentinel) to my ESC as a template and have only made one change; I set the motor KV to the value spec'd for my motors but I was getting this behavior prior to that change.

  Any input would be greatly appreciated.

  ESCs

• ---

  New Official Stereo Module?
  J jameskuesel

  @Alex-Kushleyev Hi Alex, poking into stereo a little bit. Why did you mention that guaranteeing extrinsics not changing might be hard? If hard mounted why would it ever change? Vibrations? Just curious. Because also couldn't this same logic also apply to just a one camera system?

  Thanks!

  Image Sensors

• ---

  Third Party ESC integration w/ VOXL2
  P PatkirkMartin

  DSHOT Telemetry seems like the only option for the MadMotor ESC linked in the original post so that would be our requirement.

  ESCs

• ---

  vio problem
  Z zauberflote1

  Hello there,
  It seems that you're currently running an alpha version of an old version of the SDK. I would recommend updating your SDK.

  In regards to VIO, I would recommend running OV pipe instead of QVIO (more details on this available on my past replies/posts). In addition, I would recalibrate your unit IMU via voxl-portal, ensuring your gravity magnitude post calibration is ~||9.81m/s^2||. You can inspect it via voxl-inspect-imu on the devices' shell.

  All the best,
  ZBFT (Joao Leonardo Silva Cotta)

  VOXL 2

• ---

  vio problem
  R RoyAzriel

  Hi,
  system-image: 1.8.06-M0054-14.1a-perf
  kernel: #1 SMP PREEMPT Wed Oct 22 04:29:38 UTC 2025 4.19.125
  ────────────────────────────────────────────────────────────────────────────────
  hw platform: M0054
  mach.var: 1.2.1
  SKU: MRB-D0012-4-V3-C28-T8-M36-X0
  ────────────────────────────────────────────────────────────────────────────────
  voxl-suite: 1.6.4~alpha2

  We are flying indoors using lidar and vio.
  We monitor MAVLINK_MSG_ID_ESTIMATOR_STATUS during the flight looking at s.flags & ESTIMATOR_POS_HORIZ_REL
  it is our way to monitor vio status.
  vio was wroking fine for few weeks out of the box.
  Now it seems it degragated, in each run it fails when we get to a specific point in our lab. it was not like this before.
  We suspect it has to do with hardware but we dont know what exactly. vio loses horizontal position when we get to this specific point when the drone sliding to the side. we do not know what can fire this event.
  When we run voxl-check-vibration it seems ok. so we think there is no need to calibrate. The tracking cameras stream looks fine.
  voxl-vision-hub.conf
  "en_vio": true,
  "vio_pipe": "qvio",
  "secondary_vio_pipe": "ov",
  "vfc_vio_pipe": "ov",
  "en_reset_vio_if_initialized_inverted": true,
  "vio_warmup_s": 3,
  "send_odom_while_failed": true,
  "horizon_cal_tolerance": 0.5,
  One thing we are not sure about. should both qvio and ov services are working out of the box ? ov is redundency for qvio ? in one of the drones the ov service was disabled without any reason. I guess they should both work after boot.
  when you turn off ov service do we need to change the vision-hub.conf file ?
  do you have any idea what can be the reason or how to debug it ?

  currently we are getting poor vio compared to what we had when we got the drones.

  BR,
  Roy

  VOXL 2

• ---

  FPV + OSD Setup for VOXL2
  P PatkirkMartin

  Hardware

  • VOXL2 (MDK-M0154-1-01)
  • VOXL ESC FPV 4-in-1 (MDK-M0138-11-00)

  Software Version (voxl-version)

  voxl2-test-fixture (TF-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:          TF-M0054-4-V1-C11
  ────────────────────────────────────────────────────────────────────────────────
  voxl-suite:   1.6.3
  ────────────────────────────────────────────────────────────────────────────────
  Packages:
  Repo:  http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-1.6/binary-arm64/
  Last Updated: 2023-03-02 12:58:39
  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                  0.0.2
  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-bind-spektrum             0.1.1
  voxl-camera-calibration        0.6.1
  voxl-camera-server             2.2.19
  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-modem                     1.2.3
  voxl-mongoose                  7.19.0
  voxl-mpa-to-ros                0.3.9
  voxl-mpa-tools                 1.5.6
  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-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
  ────────────────────────────────────────────────────────────────────────────────
  
  

  Services/Config (voxl-inspect-services)

  voxl2-test-fixture (TF-M0054):/$ voxl-inspect-services
  Scanning services...
  
   Service Name             |  Enabled  |   Running   |  CPU Usage
  ───────────────────────────────────────────────────────────────────
   docker-autorun           | Disabled  | Not Running |  
   modallink-relink         | Disabled  | Not Running |  
   voxl-camera-server       |  Enabled  | Not Running |  
   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   |     3.8%
   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-mini-tof-server     | Disabled  | Not Running |  
   voxl-modem-doodle        | Disabled  | Not Running |  
   voxl-modem               | Disabled  | Not Running |  
   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   |     1.9%
   voxl-vrx                 | Disabled  | Not Running |  
   voxl-vtx                 | Disabled  | Not Running |  
   voxl-wait-for-fs         |  Enabled  |  Completed  |  
  

  I am interested in integrating an FPV camera setup on my VOXL2-based aircraft. I am planning on using the USB3.0 / UART Expansion Adapter (link) to connect to an FRSKY OSD module via UART (link). I am in the process of executing this integration, but was looking for some technical guidance on how to get this working within the VOXL2 environment. Open to feedback on this approach if there is a more optimal way to go about doing this.

  I am aware of this documentation (link) regarding integration of third party VTX, but I am just wanting to get input on any implementation details regarding OSD integration in the mix of this. I am using the FATSHARK aura VTX (link) and FPV camera (link)

  Few caveats:

  • I am not currently aware if this OSD module will be compatible with PX4. I am just evaluating this as a potential solution.
  • I am aware that there is a FPV VTX/VRX offering from ModalAI. Would this be compatible with the VOXL2? I would still prefer to evaluate the FRSKY solution first but am not immediately opposed to the Modal offering (if compatible).
  VOXL 2

• ---

  IMX412 M12 Lens difference?
  J jameskuesel

  @alex-kushleyev Tagging you for visibility

  Ask your questions right here!

• ---

  Third Party ESC integration w/ VOXL2
  P PatkirkMartin

  @Alex-Kushleyev

  Thanks for passing my note along. Greatly appreciated.

  The biggest thing we need out of DSHOT is the telemetry. At this point, or for a first pass, any way we can get telemetry from a third party ESC if fine. Even if we are still using PWM or OneShot.

  ESCs

• ---

  Third Party ESC integration w/ VOXL2
  P PatkirkMartin

  @alex-kushleyev

  A large part of my team's selection of your hardware was the small footprint we get by combining flight controller + companion computer on the same piece of silicon. If we move to a third party flight controller, we honestly may as well just move away from this ecosystem.

  I am not afraid of getting into some more technical details with your development team on what it might look like for us to work on a DSHOT integration.

  PS: As an aside, my team has a large order put in with your sales team that we have not heard back about in some time. Would you please pass along that we need a response on that? I have sent a follow up via your sales inquiry forum on the website with more information

  ESCs