@brandon You'll need to load SDK v1.6.x to get it.

Hi @Pelle-Bredegg-Hermansen
I'll be happy to review your design.

I'll email you now to start the exchange.
Thanks!

Hi @cbay
Sorry, we do not share our PCB design data.

The best we did share is our Breakout Board Design noted here but that is SCH and an Altium Starter Kit w/o libs. Some symbols are in there you can try to export, but not many are in there.
https://docs.modalai.com/expansion-design-guide/#voxl-2-custom-expansion-pcb

And we have this design which we "kinda-sorta" opened a little bit for some schematic guidance.
https://docs.modalai.com/voxl2-dev-test-board/

Hope this helped.

Of note, if you do a board that is meant to mate with VOXL 2 J3/J5 or the camera group connectors J6-J8, I will review your schematic as a courtesy. Just reach out again and tag me, and I can email you privately so you are not posting your design on a public forum.

@sja123 No, unfortunately, we do not currently support boot from SD card.

@magnetocircuit Yes, this is supported. In the config file for px4 /etc/modalai/voxl-px4.conf set ESC=VOXL2_IO_PWM_ESC.

@colombe-ai I'm not sure how much we're going to be able to help to get this going but I'd start with that magnetometer. Put an oscilloscope in the lines and see if you see any activity.

@colombe-ai How did you end up with this drone? Do you know the history of it? Has it been involved in some crashes? There could be some connector / cable damage that is causing some of the peripherals to no longer work. It's going to need some low level troubleshooting.

Hi there, I would highly recommend upgrading to the latest SDK 1.6.2.

Q1: For voxl-vision-hub, openvins is just another [abstracted] VIO client, using the same MPA interface as QVIO. Thus, should work the same as QVIO.
Q2: There are no outstanding buffer conflicts between the 2 inputs in that SDK version. Though best to update to 1.6.2 as there have been numerous MPA improvements.

Q3: MAYBE ON GROUND, POSITION LOCK? is reporting that the barometer is reporting <1m and OVINS > 1m (-1 in NED space). It appears OVINS had a blow up, has recovered with a new origin in the local frame. Your output says it must have reseted in the ai/flying and hence the new local origin is above your landing point (fixed frame). Depending how you have PX4's EKF setup could lead to issues like the landing detector not working, or position error when running missions, hence why it's reported as a warning. Your output says it's at 0,0,-15 indicating OVINS restarted at ~15m up, but the PX4 baro says it's at 0. If outdoors, I recommend setting EKF2_HGT_REF = baro, if indoors, you'll need to reconcile a origin offset if VIO resets midair (qvio would require this as well) if using vio data directly waypoint manager (i.e. offboard waypoint mode or custom nav code)

Going forward if staying with 1.4.x,

1. edit /etc/modalai/voxl-open-vins-server.conf and change:
   "en_vio_always_on": true,
2. ssh into the drone and run voxl-vision-hub --debug_fixed_frame --debug_tag_cam --debug_odometry to compare values and see if there is a error in calculation possibly causing vision-hub to restart.
3. move the drone around by hand, point it at a tag as needed and monitor the output from vision-hub. Should tell you where a possible conflict arises.

@colombe-ai Can you please provide the SKU? (See: https://docs.modalai.com/sku/#inspect-sku). Was this drone flying before you updated? What version were you using before? If you go back to that version does everything work normally again?

@bendraper I just tried it and it is working now:

modalai@modalai:~/development/modalai/voxl-vision-hub (dev)$ voxl-docker -i voxl-cross
launching image: voxl-cross with the following command:
docker run --rm -it --net=host --privileged -w /home/modalai --volume=/dev/bus/usb:/dev/bus/usb -e LOCAL_USER_ID=0 -e LOCAL_USER_NAME=root -e LOCAL_GID=0 -v /home/modalai/development/modalai/voxl-vision-hub:/home/root:rw -w /home/root voxl-cross /bin/bash -l

voxl-cross(4.4):~(dev)(1.9.21)$ ./clean.sh 
voxl-cross(4.4):~(dev)(1.9.21)$ ./install_build_deps.sh qrb5165 dev
using qrb5165 dev debian repo
Ign:1 http://voxl-packages.modalai.com ./dists/qrb5165/dev/binary-arm64/ InRelease
Ign:2 http://voxl-packages.modalai.com ./dists/qrb5165/dev/binary-arm64/ Release
Get:3 http://voxl-packages.modalai.com ./dists/qrb5165/dev/binary-arm64/ Packages [76.8 kB]
Fetched 76.8 kB in 1s (122 kB/s)
Reading package lists... Done

INSTALLING: 
libmodal-json
libmodal-pipe
librc-math
libmodal-cv
voxl-mpa-tools
voxl-mavlink

Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
The following NEW packages will be installed:
  libmodal-cv:arm64 libmodal-json:arm64 libmodal-pipe:arm64 librc-math:arm64 voxl-mavlink:arm64
  voxl-mpa-tools:arm64
0 upgraded, 6 newly installed, 0 to remove and 2 not upgraded.
Need to get 5026 kB of archives.
After this operation, 0 B of additional disk space will be used.
Get:1 http://voxl-packages.modalai.com ./dists/qrb5165/dev/binary-arm64/ librc-math 1.4.6-202510091209 [180 kB]
Get:2 http://voxl-packages.modalai.com ./dists/qrb5165/dev/binary-arm64/ libmodal-cv 0.6.0-202510141028 [3887 kB]
Get:3 http://voxl-packages.modalai.com ./dists/qrb5165/dev/binary-arm64/ libmodal-json 0.4.8-202510091202 [52.5 kB]
Get:4 http://voxl-packages.modalai.com ./dists/qrb5165/dev/binary-arm64/ libmodal-pipe 2.14.10-202601210836 [151 kB]
Get:5 http://voxl-packages.modalai.com ./dists/qrb5165/dev/binary-arm64/ voxl-mavlink 0.1.6-202511141246 [650 kB]
Get:6 http://voxl-packages.modalai.com ./dists/qrb5165/dev/binary-arm64/ voxl-mpa-tools 1.5.6-202601201423 [106 kB]
Fetched 5026 kB in 1s (6805 kB/s)         
debconf: unable to initialize frontend: Dialog
debconf: (No usable dialog-like program is installed, so the dialog based frontend cannot be used. at /usr/share/perl5/Debconf/FrontEnd/Dialog.pm line 79, <STDIN> line 6.)
debconf: falling back to frontend: Readline
Selecting previously unselected package librc-math:arm64.
(Reading database ... 35164 files and directories currently installed.)
Preparing to unpack .../0-librc-math_1.4.6-202510091209_arm64.deb ...
Unpacking librc-math:arm64 (1.4.6-202510091209) ...
Selecting previously unselected package libmodal-cv:arm64.
Preparing to unpack .../1-libmodal-cv_0.6.0-202510141028_arm64.deb ...
Unpacking libmodal-cv:arm64 (0.6.0-202510141028) ...
Selecting previously unselected package libmodal-json:arm64.
Preparing to unpack .../2-libmodal-json_0.4.8-202510091202_arm64.deb ...
Unpacking libmodal-json:arm64 (0.4.8-202510091202) ...
Selecting previously unselected package libmodal-pipe:arm64.
Preparing to unpack .../3-libmodal-pipe_2.14.10-202601210836_arm64.deb ...
Unpacking libmodal-pipe:arm64 (2.14.10-202601210836) ...
Selecting previously unselected package voxl-mavlink:arm64.
Preparing to unpack .../4-voxl-mavlink_0.1.6-202511141246_arm64.deb ...
Unpacking voxl-mavlink:arm64 (0.1.6-202511141246) ...
Selecting previously unselected package voxl-mpa-tools:arm64.
Preparing to unpack .../5-voxl-mpa-tools_1.5.6-202601201423_arm64.deb ...
Unpacking voxl-mpa-tools:arm64 (1.5.6-202601201423) ...
Setting up voxl-mavlink:arm64 (0.1.6-202511141246) ...
Setting up libmodal-json:arm64 (0.4.8-202510091202) ...
Setting up librc-math:arm64 (1.4.6-202510091209) ...
Setting up libmodal-pipe:arm64 (2.14.10-202601210836) ...
Setting up libmodal-cv:arm64 (0.6.0-202510141028) ...
Setting up voxl-mpa-tools:arm64 (1.5.6-202601201423) ...
Processing triggers for libc-bin (2.39-0ubuntu8.5) ...

Done installing dependencies

voxl-cross(4.4):~(dev)(1.9.21)$ ./build.sh qrb5165
Found voxl-cross version: 4.4
-- ---------------------------------------------------------
-- Using voxl-cross 64-bit toolchain for QRB5165 ubun1 18.04
-- C Compiler  : /usr/bin/aarch64-linux-gnu-gcc-7
-- C++ Compiler: /usr/bin/aarch64-linux-gnu-g++-7
-- Sysroot     : /opt/sysroots/qrb5165_1
-- C flags     : -isystem=/usr/lib/gcc/aarch64-linux-gnu/7/include -isystem=/usr/local/include -isystem=/usr/lib/gcc/aarch64-linux-gnu/7/include-fixed -isystem=/usr/include/aarch64-linux-gnu -isystem=/usr/include -idirafter /usr/include -march=armv8.2-a
-- CXX flags   : -isystem=/usr/include/c++/7 -isystem=/usr/include/aarch64-linux-gnu/c++/7 -isystem=/usr/include/c++/7/backward -isystem=/usr/lib/gcc/aarch64-linux-gnu/7/include -isystem=/usr/local/include -isystem=/usr/lib/gcc/aarch64-linux-gnu/7/include-fixed -isystem=/usr/include/aarch64-linux-gnu -isystem=/usr/include -idirafter /usr/include -march=armv8.2-a
-- Link Flags  :  -B/opt/sysroots/qrb5165_1/usr/lib/ -L/opt/sysroots/qrb5165_1/usr/lib/gcc/aarch64-linux-gnu/7 -L/opt/sysroots/qrb5165_1/usr/lib/aarch64-linux-gnu -L/opt/sysroots/qrb5165_1/usr/lib -L/opt/sysroots/qrb5165_1/lib/aarch64-linux-gnu -L/opt/sysroots/qrb5165_1/usr/lib/aarch64-linux-gnu -L/opt/sysroots/qrb5165_1/lib -L/usr/lib64 -L/usr/lib
-- The C compiler identification is GNU 7.3.0
-- The CXX compiler identification is GNU 7.3.0
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /usr/bin/aarch64-linux-gnu-gcc-7 - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/aarch64-linux-gnu-g++-7 - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Configuring done (0.3s)
-- Generating done (0.0s)
-- Build files have been written to: /home/root/build
[  6%] Building C object utils/CMakeFiles/voxl-inspect-vfc.dir/voxl-inspect-vfc.c.o
[  6%] Building C object utils/CMakeFiles/voxl-calibrate-px4-horizon.dir/voxl-calibrate-px4-horizon.c.o
[ 12%] Building C object src/CMakeFiles/voxl-vision-hub.dir/control_input.c.o
[ 12%] Building C object src/CMakeFiles/voxl-vision-hub.dir/fixed_pose_input.c.o
[ 18%] Building C object src/CMakeFiles/voxl-vision-hub.dir/geometry.c.o
[ 18%] Building C object src/CMakeFiles/voxl-vision-hub.dir/autopilot_monitor.c.o
[ 24%] Building C object src/CMakeFiles/voxl-vision-hub.dir/config_file.c.o
[ 24%] Building C object src/CMakeFiles/voxl-vision-hub.dir/horizon_cal.c.o
[ 30%] Building C object src/CMakeFiles/voxl-vision-hub.dir/main.c.o
[ 36%] Building C object src/CMakeFiles/voxl-vision-hub.dir/mavlink_io.c.o
[ 36%] Building C object src/CMakeFiles/voxl-vision-hub.dir/imu_manager.c.o
[ 27%] Building C object src/CMakeFiles/voxl-vision-hub.dir/horizon_cal_file.c.o
[ 39%] Building C object src/CMakeFiles/voxl-vision-hub.dir/mavlink_for_ros.c.o
[ 42%] Building C object src/CMakeFiles/voxl-vision-hub.dir/offboard_backtrack.c.o
[ 45%] Building C object src/CMakeFiles/voxl-vision-hub.dir/obs_pc_filter.c.o
[ 48%] Building C object src/CMakeFiles/voxl-vision-hub.dir/misc.c.o
[ 51%] Building C object src/CMakeFiles/voxl-vision-hub.dir/offboard_figure_eight.c.o
[ 54%] Building C object src/CMakeFiles/voxl-vision-hub.dir/offboard_follow_tag.c.o
[ 57%] Building C object src/CMakeFiles/voxl-vision-hub.dir/offboard_mode.c.o
[ 60%] Linking C executable voxl-calibrate-px4-horizon
[ 60%] Built target voxl-calibrate-px4-horizon
[ 63%] Building C object src/CMakeFiles/voxl-vision-hub.dir/offboard_trajectory.c.o
[ 66%] Linking C executable voxl-inspect-vfc
[ 66%] Built target voxl-inspect-vfc
[ 69%] Building C object src/CMakeFiles/voxl-vision-hub.dir/offboard_vfc.c.o
[ 72%] Building C object src/CMakeFiles/voxl-vision-hub.dir/offboard_wps.c.o
[ 75%] Building C object src/CMakeFiles/voxl-vision-hub.dir/pose_filter.c.o
[ 78%] Building C object src/CMakeFiles/voxl-vision-hub.dir/state_manager.c.o
[ 81%] Building C object src/CMakeFiles/voxl-vision-hub.dir/tag_manager.c.o
[ 84%] Building CXX object src/CMakeFiles/voxl-vision-hub.dir/trajectory_monitor.cpp.o
[ 87%] Building C object src/CMakeFiles/voxl-vision-hub.dir/transform_ringbuf.c.o
[ 90%] Building C object src/CMakeFiles/voxl-vision-hub.dir/vio_manager.c.o
[ 93%] Building C object src/CMakeFiles/voxl-vision-hub.dir/voa_manager.c.o
[ 96%] Building C object src/CMakeFiles/voxl-vision-hub.dir/voxl_vfc_config.c.o
[100%] Linking CXX executable voxl-vision-hub
[100%] Built target voxl-vision-hub