@qubotics-admin First you need to determine the version of PX4 running. With ssh or adb you can run the following at the command line: px4-ver all. You will see PX4 version and Vendor version. So, for example, for px4 version 1.14.0 and vendor version 8.134.3 then you would checkout the tag v1.14.0-8.134.3-dev from the repo to see that commit.

@qubotics-admin It's in the voxl-fpv-dev branch of our px4 fork. See https://github.com/modalai/px4-firmware/blob/7e1625f20fac5f44a0034bebdb1e3d4027124684/src/modules/mavlink/mavlink_receiver.cpp#L108

@qubotics-admin The joystick button to use for turtle mode is set via the VOXL_ESC_T_ON parameter.

@cbay voxl-fpv-px4 is based on voxl-px4 but has some custom tuning code / parameters for our fpv drones that isn't in voxl-px4. So, it's kind of a superset. But there isn't anything related to low level i2c drivers so I have no idea how that could be causing this issue.

@greg_s That would explain a lot what's happening.

If you start fresh and connect to the drone with voxl-portal and goto the VIO tab/menu option, you should be able to pick up the drone and perform a bench test.

Considering Figure 8 is not working, you will need to inspect the front and downward camera, tighten/remount any loose parts and possibly check camera focus & calibration.
Worse case if the forward camera is good and not changed from factory, you can edit /etc/modalai/vio_cam.conf on the drone and disabled the faulty camera (disabled the down camera).
You'll have degraded precision (mainly bad vio in fast yaw motions), but should be able to perform a figure 8 and should get you running until you repair that bottom sensor.

@jmltt
Yes, that looks correct.
https://docs.modalai.com/voxl-2-wifi-setup/#overview

The dongle is expected to have the specific Realtek RTL8812/8818 part in there. You'll see the RTL part number in the serial console or ifconfig (I think, I'm not SW).

@bendraper Actually, if you try to build the dev branch in voxl-cross:V4.4 it works but you first need to initialize the submodule with git submodule update --init. Can you try this with the dev branch and see if it works for you?

@bendraper Yes, we can recreate the failure. We need to release voxl-cross 4.8. We're working on it.

@jmltt
This:?
https://docs.modalai.com/cable-datasheets/#mcbl-00041
https://www.modalai.com/products/mcbl-00041

Hi @Jetson-Nano
Sorry for my delay, I was OoO when the first message came through.
In any event, I can only say we have no plans at the moment to explore this new Lepton, and I have not even reviewed the spec sheet, so I cannot offer any guidance on it.
Sorry I can't be of more help.