@Eric-Katzfey i thought this meant that the firmware building environment running inside the container would be running Ubuntu 20.04. Since docker CE instructions from here: https://docs.docker.com/install/linux/docker-ce/ubuntu/ mention needing at least ubuntu 22.04, I was working on machine with that version.

Am I supposed to follow these instructions(https://gitlab.com/voxl-public/rb5-flight/rb5-flight-px4-build-docker/-/tree/master?ref_type=heads) on a host machine with Ubuntu 20.04, or inside the voxl-cross container? Very lost on this one so would appreciate a more detailed overview of the building process.

My exact steps so far:

completed the voxl development bootcamps from here: https://docs.modalai.com/voxl-developer-bootcamp/. Got voxl-docker and voxl-cross

downloaded hexagon sdk and followed the instructions from here on my host machine running Ubuntu 22.04: https://gitlab.com/voxl-public/rb5-flight/rb5-flight-px4-build-docker/-/tree/master?ref_type=heads. Had installation errors here, as described in this comment from above
"@garret said in VOXL2 HITL Sim with Gazebo in Docker - VTOL frame support:"

next, based on this commend from the post above:

@Eric-Katzfey said in VOXL2 HITL Sim with Gazebo in Docker - VTOL frame support:

As long as you see it has extracted all of the files that should be all that you need.

I ignored installation issues and just "Tared up" the SDK. I put resulting tar file in the same directory as the base docker image.

next, from my machine I used /.build.sh to build rb5-flight-px4-build-docker image next, used ./run-docker.sh to access inside of the rb5-flight-px4-build-docker image did the ./clean.sh and then ./build.sh from inside the rb5-flight-px4-build-docker, which resulted in the errors described in the previous 2 posts

Hi @taiwohazeez

Here's the instructions for installing the qrb5165 emulator

https://docs.modalai.com/Qualcomm-Flight-RB5-emulator/

@Jetson-Nano voxl-fpv-dev is the name of the branch. The version will be a number, such as 1.14.0-8.104.3. Most of the joystick button mapping is handled by QGC directly. It maps them to commands that are sent over Mavlink. But the turtle mode is something specific built into the ESC driver. For the joystick buttons to work for turtle mode you need to set VOXL_ESC_MODE to 1. For newer versions of the voxl-fpv-dev branch you can also set VOXL_ESC_MODE to 2. The verify that the button mapping is working you can look at the manual_control_setpoint topic in px4 and see if the aux1 / aux2 fields are changing between 0.0 and 1.0. (e.g. px4-listener manual_control_setpoint)

@QSL

For connecting the second TOF to VOXL2, you would need to use VOXL2's J8 port because J6 and J7 will be taken up by the M0173 with the three front cameras.

So you need M0172 plugged into J8 and then plug in M0177 + M0171/M0178 interposer + (actual TOF sensor) assembly into M0172. You can also use an extension M0170 instead of M0177 (https://www.modalai.com/products/msu-m0170).

using M0177:

(voxl2 J8) <-> (M0172 J1L) <-> (M0177) <-> (M0171 / M0178) <-> (TOF Module)

using M0170

(voxl2 J8) <-> (M0172 J1L) <-> (M0170) <-> (M0171 / M0178) <-> (TOF Module)

Please keep in mind that M0177 and M0171 / M0178 and TOF module are usually sold as one unit. Also, M0171 and M0178 are identical except for mounting tabs which can be removed from one to make the other.

I hope that helps!

Alex

M0172
cd921448-ab1a-428a-8e09-5c023f91014d-image.png

M0177
ef01aed2-0e25-4ed8-9172-d17c6404ab91-image.png

M0171 / M0178
a0789a3d-08ca-41b4-bf99-501d21e57798-image.png

Actual TOF Sensor Module
782cb291-28a3-43af-9036-9a0d686cd2e6-image.png

M0170
43b53c46-0d9c-4a31-82eb-3fefa37492c1-image.png

@Eric-Katzfey - Brilliant idea- thank you.

Thank you @Alex-Kushleyev, for the response. The current kernel variant is #1. I will flash variant #0 onto the voxl2. Does this kernel allow me to place a PMD sensor on J8 and J6, and have both be used simultaneously?

Also can I connect two M0172 adaptors with a micro-coax as a way to connect the PMD to the VOXL2?
alt text

It looks like this issue was only in the SDK 1.4.4 . Other SDK releases should be OK. A bug in the printing function in libmodal-journal library caused the prints to stop showing up.

Alex

@Chad-Sweet-0 Screenshot from 2025-06-26 13-38-35.png

Hi all, I work with Roberto, adding here the voxl-camera-server.conf file we are currently using.

{ "version": 0.1, "fsync_en": true, "fsync_gpio": 109, "cameras": [{ "type": "imx412", "name": "hires", "enabled": true, "camera_id": 1, "fps": 30, "en_preview": false, "preview_width": 640, "preview_height": 480, "en_raw_preview": false, "en_small_video": true, "small_video_width": 1024, "small_video_height": 768, "small_venc_mode": "h264", "small_venc_br_ctrl": "cqp", "small_venc_Qfixed": 30, "small_venc_Qmin": 15, "small_venc_Qmax": 40, "small_venc_nPframes": 9, "small_venc_mbps": 2, "small_venc_osd": false, "en_large_video": true, "large_video_width": 4056, "large_video_height": 3040, "large_venc_mode": "h264", "large_venc_br_ctrl": "cqp", "large_venc_Qfixed": 40, "large_venc_Qmin": 15, "large_venc_Qmax": 50, "large_venc_nPframes": 29, "large_venc_mbps": 40, "large_venc_osd": false, "en_snapshot": true, "en_snapshot_width": 4056, "en_snapshot_height": 3040, "exif_focal_length": 4.5, "exif_focal_length_in_35mm_format": 25, "exif_fnumber": 4.5, "ae_mode": "off", "gain_min": 54, "gain_max": 8000, "snapshot_jpeg_quality": 100 }] }

We are using the snapshots for one of our projects and we would need to have the most detailed image possible to be processed with an external algo.
Thanks

@Ligma We designed the VRX to be compatible with any off the shelf HDMI input display.

We have used HDZERO goggles with the VRX so you should have no issues there

@george-kollamkulam

Just noticed something with point #2.

ros2 run voxl_mpa_to_ros2 voxl_mpa_to_ros2_node stops the voxl-camera-server, and we stop seeing some of the interfaces from which we want to access data (tof_pc, tof_depth, hires_small_encoded etc.)
voxl-camera-server.png

Could this be the reason why we're only able to echo only /imu_apps (which I assume is completely unrelated to the voxl-camera-server)?
Screenshot_2025-06-30_15-24-02.png

The latest firmware for M0065 can be found on gitlab here

or directly on voxl2 in /usr/share/modalai/voxl2-io-tools/firmware/

Once updated, the firmware will be detected as version 2. The previous version 1 is no longer supported due to several bugs.

Alex

@daz_22 , is there any motion at all in the motor when you try to spin it up using voxl-esc-spin commands? In other words, is the motor completely stationary or does it look like it's attempting to start?

Alex