@emarcphera Huh, interesting. Okay, thanks for posting the update!

@Vinny , I have the schematics ready for review. I will wait for your email to share them with you.

Regards and thanks in advance,
Fernando

Hi @Jetson-Nano
Here is our info for Doodle Labs support:
https://docs.modalai.com/cable-datasheets/#mcbl-00085
Sorry it's buried in a cable page, but it makes the case clear (we think) how to support Doodle 🙂
b1fa4a9a-f883-4566-b3e2-ae9ab14b7264-image.png

regarding probing USB signals, unless you had a USB decoder on the scope, I do not think that will prove anything useful. You may be better off running usbview:
Windows:
USBTreeView by Uwe Sieber — uwe-sieber.de/usbtreeview_e.html
It shows enumeration hierarchy, configuration descriptors, endpoints, VID/PID, power requirements, etc.
Linux equivalent:
Use usbview — it’s essentially the same utility (GTK front-end to lsusb).

Hope that helps!

@Alex-Kushleyev

I'm trying to pull the images off and they seem to be corrupted somewhat. It almost seems like I'm getting the 16 bit image but in an 8 bit format. I'm subscribing to the boson_bayer and the image I'm getting seems to be the correct size and length but when I save its not correct. The RAW 8 stream I get on the voxl-portal looks the same, which I would expect for testing.

Heres what I'm getting for reference
https://drive.google.com/file/d/1fG5XEPM-b1NbC6H9R4jWSvZTDxm-a6Y_/view?usp=sharing

And then code I'm using to save it

static void _frame_cb(__attribute__((unused)) int ch, camera_image_metadata_t meta, char* frame, void* context) { CameraInterface* interface = (CameraInterface*)context; if (interface->GetState() != ST_RUNNING) { return; } if (interface->ShouldSkip()) { return; } if (meta.format == IMAGE_FORMAT_NV12) { } else if (meta.format == IMAGE_FORMAT_RAW8) { } else if (meta.format == IMAGE_FORMAT_RAW10) { } else if (meta.format == IMAGE_FORMAT_RAW16) { std::cout << "16 bit image " << meta.size_bytes << " stride " << meta.stride << std::endl; int input_height = meta.height; int input_width = meta.width; size_t frame_size = input_width * input_height * 2; char outname[100]; std::string image_folder_name = "/data/pgm_frames"; // uint16_t* frame_data = reinterpret_cast<uint16_t*>(frame); sprintf(outname, "%s/frame_%06lu.pgm", image_folder_name.c_str(), meta.timestamp_ns); printf("Output filename: %s\n", outname); // out_image.write(reinterpret_cast<char*>(pixels), IMAGE_PIXELS * sizeof(uint16_t)); std::ofstream out_image(outname, std::ios::binary | std::ios::out); out_image << "P5\n640 512 65535\n"; out_image.write(frame, frame_size); } else { // Not implemented std::cout << "other" << std::endl; } }

Any thoughts?

@greg_s Great! Sounds good

Hi @will-huang-oksi
Are you willing to share some pics? Might be a cabling issue (GND loop or lack of a common GND), or some other intermittent connection causing your problems.
It really is hard to debug without seeing the setup.

Thanks!
Vinny

@jeremyrbrown5 Ah, yes, that'll do it.

@jameskuesel , it looks like EIS was merged to the main branch shortly after SDK 1.5.0 was released.

If you have not updated you camera server, please do so : https://docs.modalai.com/camera-video/electronic-image-stabilization/#latest-source-code . You may also need to update libmodal-pipe library.

Alex

@Moderator Many thanks for your reply

Our goal is to develop a drone capable of indoor/confined-space autonomous flight without GPS, using SLAM-based navigation. The system should perform 3D mapping, obstacle avoidance, and full-area path planning.

We would like to confirm the correct set of components and the required algorithm stack.

Planned Algorithm Stack:

State Estimation: QVIO (Visual-Inertial Odometry) providing position and velocity to PX4/EKF2 via voxl-vision-hub. Mapping: voxl-mapper (TSDF/ESDF) using a depth source. Planning and Avoidance: voxl-mapper’s path planner or PX4 avoidance, using VIO as the pose source. Autopilot: PX4 running on VOXL2 via voxl-px4.

Proposed Hardware:

VOXL2 Autopilot – https://www.modalai.com/products/voxl-2?variant=39914779836467 VOXL2 Tracking Camera (Mono Global-Shutter) – required for QVIO (please confirm the correct part number). -- https://www.modalai.com/collections/image-sensors/products/msu-m0149-1 VOXL2 Compatible adapter https://www.modalai.com/products/mdk-m0076-1 VOXL2 Time-of-Flight (ToF) Depth Sensor – https://www.modalai.com/products/m0178?variant=48528287793456 VOXL2 Mini 40-Pin Connector ToF Adapter (MDK-M0172-1-00) – https://www.modalai.com/products/mdk-m0172-1-00

Questions:

Please confirm if this set (VOXL2 + Tracking Camera + Camera adapter + ToF sensor + ToF adapter) is sufficient for robust indoor SLAM navigation using PX4. For the tracking camera, which exact ModalAI part number is recommended for QVIO on VOXL2? Are there any best-practice configurations for voxl-mapper when using ToF instead of stereo depth? Would you recommend any additional sensors for improved performance in larger or more complex indoor environments?

Goal Summary:
We want the drone to hold position, generate a 3D occupancy map, avoid obstacles, and autonomously plan paths throughout the flyable space—without any GPS input.

Thank you in advance for your guidance and confirmation.

Best regards,
Nitin

Hi @Martin-Lukac
Good catch on the pin swap. The Table is correct, with Pin 6 = GND.

The one thing I was wondering is related to this comment:
" I can power the ESC and the FCv2 separately."
That is not necessarily a good thing, and likely to lead to problems if you are powered up or down at different times. If one output (TX) is driving an unpowered input (RX), it could put the HW in a bad state. Please make sure to have them synced for ON and OFF.
Thanks.

Ok thanks, I can parse the raw data. I guess I was expecting the csv to contain the data as well

@SystemBrute . The problem has been solved.

Hi @QSL
OK, keep us posted!
Any, for any new issues, please be sure to start a new forum post so it is seen by the team.
Thanks!

@fhaltmayer It's not something we've explored

@Dmytro-Stolbovyi
voxl2:~$ usb-devices |less [1/1]

T: Bus=01 Lev=00 Prnt=00 Port=00 Cnt=00 Dev#= 1 Spd=480 MxCh= 1
😧 Ver= 2.00 Cls=09(hub ) Sub=00 Prot=01 MxPS=64 #Cfgs= 1
P: Vendor=1d6b ProdID=0002 Rev=04.19
S: Manufacturer=Linux 4.19.125 xhci-hcd
S: Product=xHCI Host Controller
S: SerialNumber=xhci-hcd.0.auto
😄 #Ifs= 1 Cfg#= 1 Atr=e0 MxPwr=0mA
I: If#= 0 Alt= 0 #EPs= 1 Cls=09(hub ) Sub=00 Prot=00 Driver=hub

T: Bus=01 Lev=01 Prnt=01 Port=00 Cnt=01 Dev#= 2 Spd=480 MxCh= 5
😧 Ver= 2.10 Cls=09(hub ) Sub=00 Prot=02 MxPS=64 #Cfgs= 1
P: Vendor=0424 ProdID=2744 Rev=02.21
S: Manufacturer=Microchip Tech
S: Product=USB2744
😄 #Ifs= 1 Cfg#= 1 Atr=e0 MxPwr=0mA
I: If#= 0 Alt= 1 #EPs= 1 Cls=09(hub ) Sub=00 Prot=02 Driver=hub

T: Bus=01 Lev=02 Prnt=02 Port=03 Cnt=01 Dev#= 3 Spd=480 MxCh= 0
😧 Ver= 2.10 Cls=00(>ifc ) Sub=00 Prot=00 MxPS=64 #Cfgs= 1
P: Vendor=0bda ProdID=0811 Rev=02.00
S: Manufacturer=Realtek
S: Product=802.11ac WLAN Adapter
S: SerialNumber=00e04c000001
😄 #Ifs= 1 Cfg#= 1 Atr=e0 MxPwr=500mA
I: If#= 0 Alt= 0 #EPs= 6 Cls=ff(vend.) Sub=ff Prot=ff Driver=rtl88XXau

T: Bus=01 Lev=02 Prnt=02 Port=04 Cnt=02 Dev#= 4 Spd=480 MxCh= 0
😧 Ver= 2.01 Cls=00(>ifc ) Sub=00 Prot=00 MxPS=64 #Cfgs= 1
P: Vendor=0424 ProdID=2740 Rev=02.00
S: Manufacturer=Microchip Tech
S: Product=Hub Controller
😄 #Ifs= 1 Cfg#= 1 Atr=c0 MxPwr=0mA
I: If#= 0 Alt= 0 #EPs= 0 Cls=ff(vend.) Sub=ff Prot=ff Driver=(none)

T: Bus=02 Lev=00 Prnt=00 Port=00 Cnt=00 Dev#= 1 Spd=10000 MxCh= 1
😧 Ver= 3.10 Cls=09(hub ) Sub=00 Prot=03 MxPS= 9 #Cfgs= 1
P: Vendor=1d6b ProdID=0003 Rev=04.19
S: Manufacturer=Linux 4.19.125 xhci-hcd
S: Product=xHCI Host Controller
S: SerialNumber=xhci-hcd.0.auto
😄 #Ifs= 1 Cfg#= 1 Atr=e0 MxPwr=0mA
I: If#= 0 Alt= 0 #EPs= 1 Cls=09(hub ) Sub=00 Prot=00 Driver=hub

T: Bus=02 Lev=01 Prnt=01 Port=00 Cnt=01 Dev#= 2 Spd=5000 MxCh= 4
😧 Ver= 3.20 Cls=09(hub ) Sub=00 Prot=03 MxPS= 9 #Cfgs= 1
P: Vendor=0424 ProdID=5744 Rev=02.21
S: Manufacturer=Microchip Tech
S: Product=USB5744
😄 #Ifs= 1 Cfg#= 1 Atr=e0 MxPwr=0mA
I: If#= 0 Alt= 0 #EPs= 1 Cls=09(hub ) Sub=00 Prot=00 Driver=hub

T: Bus=02 Lev=02 Prnt=02 Port=00 Cnt=01 Dev#= 3 Spd=5000 MxCh= 0
😧 Ver= 3.20 Cls=00(>ifc ) Sub=00 Prot=00 MxPS= 9 #Cfgs= 1
P: Vendor=2c7c ProdID=0801 Rev=05.04
S: Manufacturer=Quectel
S: Product=RM530N-GL
S: SerialNumber=4543cb18
😄 #Ifs= 5 Cfg#= 1 Atr=a0 MxPwr=896mA
I: If#= 0 Alt= 0 #EPs= 2 Cls=ff(vend.) Sub=ff Prot=30 Driver=(none)
I: If#= 1 Alt= 0 #EPs= 3 Cls=ff(vend.) Sub=00 Prot=40 Driver=(none)
I: If#= 2 Alt= 0 #EPs= 3 Cls=ff(vend.) Sub=00 Prot=00 Driver=(none)
I: If#= 3 Alt= 0 #EPs= 3 Cls=ff(vend.) Sub=00 Prot=00 Driver=(none)
I: If#= 4 Alt= 0 #EPs= 3 Cls=ff(vend.) Sub=ff Prot=ff Driver=(none)

@owf226 As soon as PX4 thinks it has taken off then it is trying to level the drone but can't since there are no propellers on the drone. So, it keeps increasing the speed of the motors on the side that needs to come up. That all seems normal to me.

@adiprin1 On Ardupilot there is currently no way to use apps side UARTs (Some day we will add a method to use them). So, you would have to use one of the 3 UARTs attached to the DSP. If you removed the RC or the GPS and used that port then, theoretically, it could work. However, we have not tried that so can't make any guarantees. Also on PX4 you can use an apps side UART if there is one available on an add-on board. And, as you mention, you could use an SBUS RC on the VOXL 2 IO board and free up the standard RC UART.

@tom Thank you very much for your information.

@Aaron-Porter , perhaps systemd-timesyncd works together with systemd to correctly interpret the clock adjustments, so that run-time of systemd services is properly calculated.

Alex

@Jetson-Nano Regarding question #1, Yes, you can attach an external FC over the UART.