@Leo-Allesch , if you are talking about VSLAM, which stands for Visual Simultaneous Localization and Mapping, then this is a sub-class of SLAM which uses only cameras (and often IMUs, then it is VISLAM).

VSLAM and VISLAM usually generate and maintain a sparse map of 3D features (points), which is used for self localization.

If you want to be able to detect a target, and you have your 3D pose from VIO (VIO = VISLAM), then you can either triangulate the target location or get it's location from a single frame if you know the size of the target (such as April tag, etc). Then you can transform the coordinate of the tag from the camera frame into your "world" (VIO) coordinates.

The depth sensor would allow you to build a more detailed 3D map / point cloud using the 3D pose output from the VIO algorithm (or just using a depth sensor, which may be more complicated). You can also build a dense 3D map using camera only (and IMU), but that typically requires a lot more computation than using a depth sensor.

You don't necessarily need a depth sensor for identifying the position of a specific target that is easily detected by a camera.

There is a lot of research material you can find on these topics, please look into it deeper and let us know if you have specific questions about using VOXL2 hardware and software.

Alex

@Alex-Kushleyev Found the reason why it was skipping. In /px4-firmware/src/lib/parameters/CMakeLists.txt there is a line that skips all modules that match 'pwm_out'. I was able to disable that for PCA9685. Once I disabled the module.yaml file being skipped it worked. No need for the .c file (which makes sense, that is just the old way to do the .yaml)

@emarcphera @Eric-Katzfey thank you so much after upgrading to voxl-mainline im getting GPS readingScreenshot from 2026-02-28 01-45-10.png

@Alex-Kushleyev Thank you so much!

I'm a bit preoccupied with a few other projects but hopefully I can take a look by the end of next week and get back to you.

@voxltester,
When you say voxl-microdds-agent doesnt work, do you mean it doesnt run? Or it doesnt create the topics? Whats the terminal output when you run it directly from the terminal?
Is your setup like earlier where you have the hat on and the wifi dongle is connected on the hat?

If the topics are only showing up after disabling the wifi interface, then I suspect its a ip routing issue, and that voxl microdds agent is binding to the first interface that comes up, which is the wifi.

@zauberflote1 I am no longer having this issue. I have been flying with OpenVins for some time, and I was sometimes seeing drift in the vio estimate, and I was wondering what are the best configs to use. for vio_cams.conf and voxl-open-vins-server.conf?

@Eric-Katzfey I got about a million warnings when actually building but it did appear to build after initializing the submodules. Thanks!

@Myles-Levine Nevermind, I got it working through the voxl interface instead of Qgroundcontrol. Thank you.

@Alex-Kushleyev I made the following changes.

Modified the DTS files as stated prior. Flashed the devcfg.mbn file from SDK 1.0.0 I did not need to configure the level shifter actually. The port worked in SPI mode even without running voxl-gpio -w 67 1. Running the command doesn't seem to change anything.

I used Channel 1 on /dev/i2c-0 for the second lepton. I simply wrote TCA9543A_CHANNEL_1_ENABLE to TCA9543A_CONTROL_REGISTER in voxl-lepton-server. I pretty much followed what was described here.

@Cliff-Wong the drone is on SDK 1.5.0, I switched to open vins, and the vio portal reflected the movement, but when i toggled my controller from manual mode to position mode, the drone crashed for the first fight, on the second and third trial the drone kept landing, when i tried the fourth time, the drone finally maintained the height and hovered. Why do I have that unpredictable behavior ? I have attached images of my controller to show the toggling i meant.

Kindly advice.
Thanks. WhatsApp Image 2026-02-13 at 10.53.46 AM.jpeg WhatsApp Image 2026-02-13 at 10.53.46 AM (1).jpeg

@jbhines929 Please fill out the RMA form to get the process started. If it is due to manufactures defect it is covered under warranty and no diagnosis fee will be charged.

@mark , it looks like your version of voxl sdk has an early version of the imx664 driver (not supporting 2704x1540 resolution.

Are you able to upgrade sdk to 1.5.x or 1.6.x?

Alternatively, i could share the latest camera drivers to use with 1.4.5.

I would also recommend updating voxl-camera-server to the latest, but that would also require updating other packages.. would you consider upgrading the sdk or are you locked to 1.4.5?

Alex

@jameskuesel Thanks! Merged

Hi @Hunter-Scott ,

We are looking into this. We may not have an exact CAD model for every single variant of the products. Is there something specific in your product that significantly deviates from the provided CAD files? Maybe we can provide something that is close (but not exactly correct).

Alex

@lhermosillo It was 15 with/without the GPS.

@Richa . thanks for the details, got it it.

I will need to test the master / slave mode. Is your plan to have one IMX664 generate the sync signal (master) and the other(s) IMX664 being slaves? or all slaves?

I should be able to give it a quick test this week. The change would involve setting several additional registers in the camera configuration, which would mean a change in the sensormodule driver for the camera. we can figure this out after i verify the functionality.

Alex

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.

@Moderator

Thanks for the clarification on the ~50 ms glass-to-glass number.

Trying to get a better understanding the performance envelope:
1. Does the 50 ms include RF transport over Doodle, decode, and HDMI output latency, or is that measured only within the VOXL + VRX software stack?
2. Was this measured in point-to-point mode or mesh routing mode?
3. Can you expand on bitrate, resolution, and encoder settings were used (GOP structure, B-frames disabled, UDP vs RTSP)?
4. Is MAVLink or other traffic running on the same link during that measurement?
5. Do you have a latency breakdown per stage (encode / RF / decode / display)?

Appreciate any information you can provide. I just want to make sure I can test and validate this effectively.

@Moderator The description to MCBL-00128 (https://docs.modalai.com/cable-datasheets/#mcbl-00128), the TOF for the Voxl 2 Mini says it's supported with M0188 (https://docs.modalai.com/M0189/) without specifying any sub P/N (-1 or -2), even in the documentation of the M0188 doesn't say anything about P/N -1 or -2 (https://docs.modalai.com/M0188/).

@Moderator thank you so much, I will go through that now.