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!

@Jetson-Nano Looks like you are never receiving anything FROM the AP. Only sending stuff TO it. Can you put an oscilloscope on the RX / TX UART lines to see what the traffic looks like. For some reason it doesn't seem like the UART is setup properly on either the FC or the DSP so with an oscilloscope you can better see what is going on.

@Eric-Katzfey

As said,
I will test J18 later.

Currently, I am using J9 of a 5G modem and connected with J1 of FCv2.

Connection seems stable. using a 921600 baud rate with port 2.
The major issue is RX loss.

seeing 95% message loss, as I explained in an earlier post.

below is mavlink status visible on QGC mavlink console:

nsh> mavlink status instance #0: mavlink chan: #0 type: GENERIC LINK OR RADIO flow control: OFF rates: tx: 1106.7 B/s txerr: 0.0 B/s tx rate mult: 0.310 tx rate max: 1200 B/s rx: 1828.2 B/s rx loss: 21.3% Received Messages: sysid: 1, compid:197, Total: 7820 (lost: 180596) msgid: 0, Rate: 1.0 Hz, last 0.37s ago msgid: 330, Rate: 10.0 Hz, last 0.06s ago sysid: 1, compid:196, Total: 672 (lost: 0) msgid: 0, Rate: 0.9 Hz, last 0.97s ago FTP enabled: YES, TX enabled: YES mode: Normal Forwarding: On MAVLink version: 2 transport protocol: serial (/dev/ttyS6 @921600)

As above, the RX loss showing is 21.3% which is huge.
It is in normal mode. If I change the mavling mode to onboard, it is an 83% loss. and with vision hub odomatry, distance massages it is getting worst like 125%.

Now. This Rx loss does not match the number.

sysid: 1, compid:197, Total: 7820 (lost: 180596)

As per this MAVLink status, the total successfully received messages are 7820, and the lost are 180596.
So, actual loss is (180596/(7820+180596)) = 95.8%.
And it is showing only 21.3%.

So, MAVLink is working between VOXl2 and FCv2. Currently using UART port 2 of VOXl2, not 12. I will debug it later. Once setup is complete.

@Tjark There is an updated voxl-px4 here: http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/voxl-px4_1.14.0-2.0.116-202510301051_arm64.deb. You will also need an updated libfc-sensor library here: http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/libfc-sensor_1.0.8-202508141142_arm64.deb. Can you try to update with these 2 and see if it solves the issue?

@l05 can you try running the ./make_package.sh script inside docker? also if you are just trying to deploy your app, you can copy it directly from voxl-mpa-tools/build64/tools, to voxl2 using adb or ssh (assuming the build itself succeeded).

Alex

@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

@SKA ,

In your case, the issue should be solved by commenting out one line in https://gitlab.com/voxl-public/voxl-sdk/services/voxl-camera-server/-/blob/eis/src/misp.cpp :

//TODO: FIXME //in roll following mode, the roll is not stabilized to the horizon, so it does not need to be flipped //need to resolve this in a better way because Rout is meant for another purpose if (!follow_roll) rc_matrix_right_multiply_inplace(&eis_ctx.H.m, eis_ctx.Rout.m); //rotate the image according to desired output rotation (nominally identity)

Specifically, comment out the if statement : if (!follow_roll) , so that the Rout matrix is always applied to the full transform H.

The issue is that I tried to solve another use case by using this parameter (when the voxl2 / IMU is flipped upside down while camera is right side up). I just tested and it appears to be working.

I will figure out a better way of handling the upside down IMU in this case so that the output transform can be used correctly, but for now you can just comment out that if statement.

Can you please let me know if that fix worked for you?

Alex

@alan123 If it keeps reporting changing to a new UART baudrate then that's an indication that it isn't connecting at all to the GPS unit. You could also put an oscilloscope on the lines to see if you can detect traffic from the GPS and from VOXL 2.

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.

@tom basically yes, one that can carry a larger payload up to 10 LBS that can fly in tighter spaces than like payload drones and doesn’t have open props. Drones like the C100 and R80D fail to meet requirements and are too low performance. I don’t see any FCs that can run 8 motors. Do you know if ModalAI has anything like this in the works? Thank you

Hi @snowt33nshi
All of our ucoax based image sensors use the same cables.
Be careful mating adapters to sensors as they are not all compatible as noted here:
https://docs.modalai.com/micro-coax-user-guide/
Hope this helps.

@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.

@Robbie-McCue worked, thanks so much!

@Eric-Katzfey

Ok thanks for you clarification, I will try it and see how it goes.

@jimbow77 , regarding #4, there are four batteries (two sets).

#3 - we don't have an option to install FLIR Lepton, but you can purchase it separately (from another vendor) and install it. The adapter is present in Starling 2 Max, so you would just need to install the Lepton sensor into the socket.

Alex