@Alex-Kushleyev sure thing. As per your suggestion, I modified voxl-lepton-server by moving all the Lepton camera-specific logic into a C++ class and added locks to any I2C operations to prevent race conditions. I then just created 2 instances of the LeptonCamera class I made which parse and publish the camera feeds to their own pipes which I can view in voxl-portal.

I didn't need to disable any I2C interface for the second Lepton. I'm not too sure what you were referring to by that.

In regards to the horizontal line artifacts, those don't seems to consistently appear and I don't know what causes it. I'll investigate it further.

My next steps are to get the Leptons working with voxl-open-vins-server. One question I had was that our VOXL 2 Mini appears to be running a service called voxl-lepton-tracker however I cannot find the source code for this anywhere on the voxl public GitLab. Was it removed or hidden?

@Alex-Kushleyev

Yeah so our engineering capstone project is to in some way integrate target detection into the VSLAM mapping to provide more detailed information inside the mapping. Our client was hoping maybe for the ability to save points or a bounding box on the mapping at certain target points and having the ability to see what they are.

How can VSLAM work without any depth sensor and just a camera? It was my understanding that it needs the depth feedback to create the 3D mapping.

In any case I'll reach out to my client about making that order.

@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)

@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?

Hi @jimbow77 , @oasisartisan ,

I updated the voxl-camera-server on a branch to save the tof v2 calibration to a file. Here is the commit : https://gitlab.com/voxl-public/voxl-sdk/services/voxl-camera-server/-/commit/f7aadc13246df35757498ee8c2633897864d47ff .

Are you able to build the camera server from this branch?
https://gitlab.com/voxl-public/voxl-sdk/services/voxl-camera-server/-/tree/save-tof-v2-lens-cal

We will review the changes more thoroughly a bit later and we can merge them to dev..

On my drone, the calibration file (which will include the serial number of the TOF sensor) is created when running camera server:

cat /data/misc/camera/irs2975c_8E7F-3715-16E7-2CA0_lens.cal VERSION:1.0:VERSION #px,py,cx,cy,tan-coeff[0..1], rad-coeff[0..n-1] 120.985 87.9267 101.435 101.435 0.000431714 -0.000511291 -0.0315991 -0.0224586 0.00496448

Alex

@Zachary-Lowell-0
Hi,
I figured out that voxl-microdds-agent does't work when I set up voxl-wifi for the Wi-Fi... even after removing the Wi-Fi dongle...
I had to disable the Wi-Fi by selecting 4) Disable WiFi (disables all active modes) and reboot in order to run voxl-microdds-agent properly, and then I was able to see the ROS 2 topics...

I do not know exactly what version I used, but it was not like this before... I did not need to disable Wi-Fi in the voxl-wifi setting..

@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.

@jameskuesel Thanks! Merged

@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

@Jetson-Nano ,

We have not tried QVIO with Boson, it may work (but we can't really support that). The boson output is usually a bit fuzzy, so i am not sure how the feature detection will work, but it may be ok. Disabling FFC will definitely resolve the gaps in the frame feed, but disabling the FFC will also affect the Boson image quality, which may degrade over time.

If you wanted to use any USB (thermal) camera with VIO, you would just have to use voxl-uvc-server to publish the images to mpa, so that voxl-qvio-server can subscribe to them. The only issue is that the uvc interface does not provide accurate timestamp of the camera, but it may be ok just to use the time of arrival of the frame. QVIO does estimate the time offset between the IMU and camera, so as long as the timestamp is consistently captured, it should be ok..

Alex

@Morten-Nissov ,

Is it just the specific camera (tracking) not working in a specific port? what if you connect TOF or IMX214 camera there?

For your configuration using the M0135 interposer, kernel variant 2.0.0 is the correct one to use. Using kernel 2.0.2 will result in some cameras not working due to different pins used for camera reset (which get properly routed in M0188 and M0195 camera adapter boards for the coax cameras).

So i would suggest using the correct kernel 2.0.0, then test one camera at a time and see if you can narrow it down to a camera or port not working.

Alex

Carson—

I'm trying to do the same: create a Kicad symbol for VOXL 2 as a module (ie, no internal details, just interfaces). Have you had any luck in locating something?

Best,

—John

@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.

@Alex-Kushleyev alright, thanks for the help!