Hi @Alex-Kushleyev
That's correct, since we have not supported it or tried it, there is no elegant HW solution.
We've recently completed the M0172 adapter which breaks out a uCOAX on the upper group + 40-pin Molex (for ToF) on the lower group from a single camera group.
We have not made this product available yet for purchase, but looks like this:

If this is something that interests you, I encourage you to ask our sales team using the contact page about it (we should have a bunch in stock it just has not been a priority for us): https://www.modalai.com/pages/contact-us

@Jetson-Nano The updated voxl-io-server version is here: http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/voxl-io-server_0.0.5-202502191136_arm64.deb. The updated FC v2 image is here: http://voxl-packages.modalai.com/dists/fc-v2/dev/modalai_fc-v2_1.14.0-2.0.95.px4. I have only tested with PX4 running on VOXL 2 but it should also work with external FC v2.

@Thasindu-Wickrama No, we use TOF for depth in indoor environments. In outdoor environments we have used stereo cameras. And we have used single point lidar for distance (height) sensing. How did you want to integrate a LiDAR? Would it be a PX4 driver?

@Kessie I won't be able to run any of my own tests until the end of next week. One other thing you can try is to move to a slightly older VOXL SDK and see if something in the latest SDK is causing the issue (like SDK v1.3.5).

@Thasindu-Wickrama We have no experience with this sensor.

@ravi Can you try with force? For example: dpkg --force-all -i voxl-mainline-px4_1.15.2-202502041627_arm64.deb

@Kessie Have you tried in AP mode for WiFi to eliminate anything in your WiFi network? With AP mode it would only be the laptop and drone on the network. You can try AP mode in 2.4GHz and 5GHz configurations in case there is a lot of interference on one of those bands. (e.g. voxl-wifi softap ssid pass or voxl-wifi softap5 ssid pass).

@Kessie I've also asked our partner support team at ArduPilot to take a look.

@Kessie But you can also reach out to the ArduPilot support team. I know that some have successfully used Mission Planner with VOXL before.

@Kessie You can kill the voxl-mavlink-server service (systemctl stop voxl-mavlink-server) and start it from the command line with some debug options so that you can see the message traffic between the GCS and AP. Perhaps do this with QGC to see it working and then with Mission Planner to compare the differences.