@necurran It just reads both the apps processor side timestamp and the DSP side timestamp and calculates the difference. It does this 4 time a second in a thread. The thread starts when fc_sensor_initialize is called.

Was curious if voxl-fan was taken out of SDK 1.5

@Jetson-Nano Those are topic messages used to communicate between the applications processor and the DSP in the VOXL2 split architecture. They are unused on non-VOXL2 platforms.

@tonygurney See here for adb install instructions and debugging tips:
https://docs.modalai.com/setting-up-adb/#setting-up-adb

The udev rules at the bottom may solve your issue

@Jetson-Nano The issue is that those messages were commented out in msg/CMakeLists.txt. The reason for that is that there is a limit in PX4 of 256 different types and there are too many. CAN isn't supported on VOXL 2 so those messages were commented out. If you want to use our fork on FCv2 you can uncomment those messages and comment out some of the VOXL 2 specific messages that aren't used on FCv2. For example:

	ParameterClientResetResponse.msg
	ParameterClientSetValueRequest.msg
	ParameterClientSetValueResponse.msg
	ParameterServerSetUsedResponse.msg
	ParameterServerSetUsedRequest.msg
	ParameterServerSetValueRequest.msg
	ParameterServerSetValueResponse.msg

@andrevs01 You can see the PX4 start up script in /usr/bin/voxl-px4-start. You can see the streams being configured there.

@andrevs01 voxl-vision-hub sends the Mavlink ODOMETRY message to PX4. Generally, VOXL applications send data around using Modal Pipe Architecture (MPA). If you need this information in your application you can subscribe to the pipe producing VIO data and get it straight from there. Or, you can get it via the Mavlink messages sent via MPA. I'm not sure why you cannot configure PX4 to send out the stream though. There are 2 streams sent out, one for QGC with lower bandwidth and one for onboard processes that has higher bandwidth.

@andrevs01 I'm not really understanding your question. You seem to want access to VIO data. Is this for an application running on the VOXL 2? What VIO data do you need?

@Jetson-Nano Can you please start a new thread for this new topic?

@wilkinsaf

1. Yes this is definitely possible
2. You would need to modify flow-server and possibly feature-tracker to ensure this is pointed at the right pipe
3. Might also need a bit of calibration here and there
4. Have not tested having multiple versions of flow-server, but should be possible.
5. Would need to ensure this works with a downard facing tof for accurate height estimate

To get a rough draft of this working, would take ~2 days