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    • G

      VOXL2 HITL Sim with Gazebo in Docker - VTOL frame support

      Ask your questions right here!
      • • • garret
      10
      0
      Votes
      10
      Posts
      84
      Views

      G

      @Eric-Katzfey thank you for bearing with me, I have moved on to building the project, but running into some issues related to Hexagon SDK.

      root@7508b7b53f9a:/usr/local/workspace# ./build.sh *** Starting build *** Setting up the Hexagon SDK environment locally HEXAGON_SDK_ROOT is : /home/4.1.0.4 Setting up the QAIC binary for the platform make: Entering directory '/home/4.1.0.4/ipc/fastrpc/qaic' make: 'bin/qaic' is up to date. make: Leaving directory '/home/4.1.0.4/ipc/fastrpc/qaic' Could not find Androd ndk at /home/4.1.0.4/tools/android-ndk-r19c Please refer to /home/4.1.0.4/docs/tools/setup.html for installing the missed components *** Starting dependencies build *** -- The C compiler identification is GNU 7.5.0 -- The CXX compiler identification is GNU 9.4.0 -- Check for working C compiler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-gcc -- Check for working C compiler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-gcc -- works -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Detecting C compile features -- Detecting C compile features - done -- Check for working CXX compiler: /usr/bin/c++ -- Check for working CXX compiler: /usr/bin/c++ -- works -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Detecting CXX compile features -- Detecting CXX compile features - done -- Configuring done -- Generating done -- Build files have been written to: /usr/local/workspace/px4-firmware/boards/modalai/voxl2/libfc-sensor-api/build Scanning dependencies of target fc_sensor [ 50%] Building C object CMakeFiles/fc_sensor.dir/src/fc_sensor_stub.c.o [100%] Linking C shared library libfc_sensor.so [100%] Built target fc_sensor *** End of dependencies build *** *** Starting apps processor build *** -- PX4 version: v1.14.0-2.0.94-dev (1.14.0) -- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3") -- PX4 config file: /usr/local/workspace/px4-firmware/boards/modalai/voxl2/default.px4board -- PLATFORM posix -- LINUX_TARGET y -- TOOLCHAIN aarch64-linux-gnu -- ROMFSROOT px4fmu_common -- ROOTFSDIR /data/px4 -- PX4 config: modalai_voxl2_default -- PX4 platform: posix -- PX4 lockstep: disabled -- The CXX compiler identification is GNU 7.5.0 -- The C compiler identification is GNU 7.5.0 -- The ASM compiler identification is GNU -- Found assembler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-gcc -- Check for working CXX compiler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-g++ -- Check for working CXX compiler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-g++ -- works -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Detecting CXX compile features -- Detecting CXX compile features - done -- Check for working C compiler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-gcc -- Check for working C compiler: /home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-gcc -- works -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Detecting C compile features -- Detecting C compile features - done -- cmake build type: RelWithDebInfo -- ccache enabled (export CCACHE_DISABLE=1 to disable) -- Skipping pwm file path /usr/local/workspace/px4-firmware/src/drivers/linux_pwm_out/module.yaml for VOXL2 -- Skipping pwm file path /usr/local/workspace/px4-firmware/src/drivers/pca9685_pwm_out/module.yaml for VOXL2 -- Skipping pwm file path /usr/local/workspace/px4-firmware/src/drivers/pwm_out/module.yaml for VOXL2 -- Skipping pwm file path /usr/local/workspace/px4-firmware/src/modules/simulation/pwm_out_sim/module_hil.yaml for VOXL2 -- Skipping pwm file path /usr/local/workspace/px4-firmware/src/modules/simulation/pwm_out_sim/module_sim.yaml for VOXL2 -- ROMFS: ROMFS/px4fmu_common Architecture: amd64 ==> CPACK_INSTALL_PREFIX = @DEB_INSTALL_PREFIX@ -- Configuring done -- Generating done -- Build files have been written to: /usr/local/workspace/px4-firmware/build/modalai_voxl2_default [0/568] git submodule src/modules/microdds_client/Micro-XRCE-DDS-Client [4/568] git submodule src/drivers/gps/devices [8/568] git submodule src/modules/mavlink/mavlink [68/568] Performing configure step for 'libmicroxrceddsclient_project' -- libmicroxrceddsclient_project configure command succeeded. See also /usr/local/workspace/px4-firmware/build/modalai_voxl2_default/src/modules/microdds_client/src/libmicroxrceddsclient_project-stamp/libmicroxrceddsclient_project-configure-*.log [449/568] Performing build step for 'libmicroxrceddsclient_project' -- libmicroxrceddsclient_project build command succeeded. See also /usr/local/workspace/px4-firmware/build/modalai_voxl2_default/src/modules/microdds_client/src/libmicroxrceddsclient_project-stamp/libmicroxrceddsclient_project-build-*.log [453/568] Performing install step for 'libmicroxrceddsclient_project' -- libmicroxrceddsclient_project install command succeeded. See also /usr/local/workspace/px4-firmware/build/modalai_voxl2_default/src/modules/microdds_client/src/libmicroxrceddsclient_project-stamp/libmicroxrceddsclient_project-install-*.log [568/568] Linking CXX executable bin/px4 /* Auto Magically Generated file */ /* Do not edit! */ #pragma once #define PX4_GIT_VERSION_STR "5e6a8c257371b6c45e55662daac5fe9fbd08040b" #define PX4_GIT_VERSION_BINARY 0x5e6a8c257371b6c4 #define PX4_GIT_TAG_STR "v1.14.0-2.0.94-dev-dirty" #define PX4_GIT_BRANCH_NAME "" #define PX4_GIT_OEM_VERSION_STR "" #define PX4_GIT_TAG_OR_BRANCH_NAME "v1.14.0-2.0.94-dev-dirty" // special variable: git tag, release or master branch #define MAVLINK_LIB_GIT_VERSION_STR "3ee5382d0c96134b0e1c250d8c2d54bfed0166fa" #define MAVLINK_LIB_GIT_VERSION_BINARY 0x3ee5382d0c96134b #define NUTTX_GIT_VERSION_STR "3f77354c0dc88793a47ff3b57595195ab45f7ba9" #define NUTTX_GIT_VERSION_BINARY 0x3f77354c0dc88793 #define NUTTX_GIT_TAG_STR "v11.0.0" *** End of apps processor build *** *** Starting qurt slpi build *** -- PX4 version: v1.14.0-2.0.94-dev (1.14.0) -- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3") -- PX4 config file: /usr/local/workspace/px4-firmware/boards/modalai/voxl2-slpi/default.px4board -- PLATFORM qurt -- TOOLCHAIN qurt -- ROMFSROOT px4fmu_common -- PX4 config: modalai_voxl2-slpi_default -- PX4 platform: qurt -- The CXX compiler identification is Clang 10.0.0 -- The C compiler identification is Clang 10.0.0 -- The ASM compiler identification is unknown -- Found assembler: /home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools/bin/hexagon-clang -- Check for working CXX compiler: /home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools/bin/hexagon-clang++ -- Check for working CXX compiler: /home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools/bin/hexagon-clang++ -- broken CMake Error at /usr/share/cmake-3.16/Modules/CMakeTestCXXCompiler.cmake:53 (message): The C++ compiler "/home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools/bin/hexagon-clang++" is not able to compile a simple test program. It fails with the following output: Change Dir: /usr/local/workspace/px4-firmware/build/modalai_voxl2-slpi_default/CMakeFiles/CMakeTmp Run Build Command(s):/usr/bin/ninja cmTC_f8c54 && [1/2] Building CXX object CMakeFiles/cmTC_f8c54.dir/testCXXCompiler.cxx.o [2/2] Linking CXX executable cmTC_f8c54 FAILED: cmTC_f8c54 : && /home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools/bin/hexagon-clang++ -Wno-inconsistent-missing-override -DCONFIG_WCHAR_BUILTIN -D__CUSTOM_FILE_IO__ -mv66 -G0 -O3 -Wno-inconsistent-missing-override -DCONFIG_WCHAR_BUILTIN -D__CUSTOM_FILE_IO__ -mv66 -G0 -O3 -Wno-inconsistent-missing-override -DCONFIG_WCHAR_BUILTIN -D__CUSTOM_FILE_IO__ -mv66 -G0 -O3 -Wno-inconsistent-missing-override -DCONFIG_WCHAR_BUILTIN -D__CUSTOM_FILE_IO__ -mv66 -G0 -O3 -mv66 -mG0lib -G0 -fpic -shared -Wl,-Bsymbolic -Wl,--wrap=malloc -Wl,--wrap=calloc -Wl,--wrap=free -Wl,--wrap=realloc -Wl,--wrap=memalign -Wl,--wrap=__stack_chk_fail -Wl,/home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools/target/hexagon/lib/v66/G0/pic/libc++.a -lc -mv66 -mG0lib -G0 -fpic -shared -Wl,-Bsymbolic -Wl,--wrap=malloc -Wl,--wrap=calloc -Wl,--wrap=free -Wl,--wrap=realloc -Wl,--wrap=memalign -Wl,--wrap=__stack_chk_fail -Wl,/home/4.1.0.4/tools/HEXAGON_Tools/8.4.05/Tools/target/hexagon/lib/v66/G0/pic/libc++.a -lc CMakeFiles/cmTC_f8c54.dir/testCXXCompiler.cxx.o -o cmTC_f8c54 && : hexagon-clang++: error: unable to execute command: Executable "hexagon-link" doesn't exist! hexagon-clang++: error: hexagon-link command failed with exit code 1 (use -v to see invocation) ninja: build stopped: subcommand failed. CMake will not be able to correctly generate this project. Call Stack (most recent call first): CMakeLists.txt:219 (project) -- Configuring incomplete, errors occurred! See also "/usr/local/workspace/px4-firmware/build/modalai_voxl2-slpi_default/CMakeFiles/CMakeOutput.log". See also "/usr/local/workspace/px4-firmware/build/modalai_voxl2-slpi_default/CMakeFiles/CMakeError.log". Error: /usr/local/workspace/px4-firmware/build/modalai_voxl2-slpi_default is not a directory make: *** [Makefile:232: modalai_voxl2-slpi] Error 1 cat: build/modalai_voxl2-slpi_default/src/lib/version/build_git_version.h: No such file or directory *** End of qurt slpi build *** /usr/local/workspace User ID is 1000 Group ID is 1000 *** End of build ***

      When downloading I have selected the androidNDK.
      841530cf-1384-4a25-8cdd-abc85da72c18-image.png

      I then noticed that Hexagon sdk has the ability to download missing components. I tried using instructions provided in /home/4.1.0.4/docs/tools/setup.html to download missing components. To be specific, I tried this command:

      $HEXAGON_SDK_ROOT/tools/hexagon_ide/jre/bin/java -jar $HEXAGON_SDK_ROOT/utils/scripts/depDl.jar -c <key> -t $HEXAGON_SDK_ROOT

      with the <key> = fullndk. This failed.

      When i tried checking out the directory of the java executable being called - the executable was not there. I wonder if this is a problem that occurred because of the installation issue. If you have dealt with missing necessary androidNDK during build, your advice on how to mitigate the issue would be highly appreciated.

      Also, there seem to be an Error: /usr/local/workspace/px4-firmware/build/modalai_voxl2-slpi_default is not a directory directory missing. Indeed, during the build it creates /usr/local/workspace/px4-firmware/build/modalai_voxl2_default directory. Is that a bug or is it also because of the sdk installation issues?

      PS: Some screenshots of my hexagonsdk directory with alleged java executable:
      4569f484-ebed-4766-b403-b97a45b1923f-image.png

    • T

      ROS2 ON VOXL2

      ROS
      • • • taiwohazeez
      8
      0
      Votes
      8
      Posts
      21
      Views

      T

      Hi @taiwohazeez

      Here's the instructions for installing the qrb5165 emulator

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

    • ModeratorM

      Connecting MSU-M0149-1, MSU-M0107, and VOXL 2 Time of Flight (TOF) Depth Sensor

      System Architecture Design Reviews
      • • • Moderator
      5
      0
      Votes
      5
      Posts
      28
      Views

      Alex KushleyevA

      @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

    • Hector GutierrezH

      Testing voxl-vision-hub offboard code without arming the drone

      Starling & Starling 2
      • • • Hector Gutierrez
      5
      0
      Votes
      5
      Posts
      29
      Views

      Hector GutierrezH

      @Eric-Katzfey - Brilliant idea- thank you.

    • Jetson NanoJ

      doodle labs and joystick setup

      Ask your questions right here!
      • • • Jetson Nano
      4
      0
      Votes
      4
      Posts
      16
      Views

      Jetson NanoJ

      @Eric-Katzfey yes , I am using the QGC to map joystick buttons. I am using the voxl-fpv-dev version from the modalai px4 repo. I am using the FPV 4-in-1 ESC. I am not able to get more than 2 toggle switches and also not able to assign them two way.

    • D

      voxl-camera-server behaving differently

      Video and Image Sensors
      • • • dvz
      3
      0
      Votes
      3
      Posts
      7
      Views

      Alex KushleyevA

      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

    • Idan FikselI

      Camera not being identified on J7U

      Video and Image Sensors
      • • • Idan Fiksel
      3
      0
      Votes
      3
      Posts
      17
      Views

      Alex KushleyevA

      @QSL , are you using kernel variant 0 or 1?

      you can check using voxl-version, whether you see mach var 1.0.0 or 1.0.1.

      1.0.1 kernel is used with M0173 Starling Camera Front End due to I/O pin configuration specific to M0173.

      If you are not using M0173, for example when you use M0084 connected to VOXL2 J7, you need to switch to kernel variant 0. by either re-installing the VOXL2 SDK or relfashing the correct kernel from the SDK.

      cd voxl2_SDK_<voxl-sdk-version>/system-image adb reboot bootloader #flash variant 0 fastboot flash boot_a m0054-1-var00.0-kernel.img fastboot flash boot_b m0054-1-var00.0-kernel.img #or flash variant 1 fastboot flash boot_a m0054-1-var00.1-kernel.img fastboot flash boot_b m0054-1-var00.1-kernel.img #reboot fastboot reboot

      Alex

    • W

      Microhard modem is not bring reconized on laptop

      Ask your questions right here!
      • • • wrossi17
      3
      0
      Votes
      3
      Posts
      42
      Views

      W

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

    • george kollamkulamG

      ROS2 Foxy Setup Issues

      Ask your questions right here!
      • • • george kollamkulam
      2
      0
      Votes
      2
      Posts
      7
      Views

      george kollamkulamG

      @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

    • ModeratorM

      updating M0065

      VOXL Accessories
      • • • Moderator
      2
      0
      Votes
      2
      Posts
      26
      Views

      Alex KushleyevA

      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

    • D

      Starling 2 Max Motor (0) Not Operational

      Ask your questions right here!
      • • • daz_22
      2
      0
      Votes
      2
      Posts
      31
      Views

      Alex KushleyevA

      @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

    • LigmaL

      Vrx Stinger UAS 3.5INCH

      FPV Drones
      • • • Ligma
      1
      0
      Votes
      1
      Posts
      4
      Views

      No one has replied

    • T

      VOXL2 Servos Not Rotating

      VOXL 2
      • • • teddy.zaremba
      1
      0
      Votes
      1
      Posts
      7
      Views

      No one has replied

    • Rowan DempsterR

      Recording RoyaleRecordingFile format from the ToF

      Image Sensors
      • • • Rowan Dempster
      1
      0
      Votes
      1
      Posts
      8
      Views

      No one has replied

    • W

      Screws for Starling 2 Max Top Bracket

      Starling & Starling 2
      • • • wilt
      1
      0
      Votes
      1
      Posts
      14
      Views

      No one has replied

    • Aaron PorterA

      Purpose of VFC

      Ask your questions right here!
      • • • Aaron Porter
      1
      0
      Votes
      1
      Posts
      14
      Views

      No one has replied

    • A

      VOXL 2 Board Bricked - Cause Analysis

      Ask your questions right here!
      • • • ashwin
      1
      0
      Votes
      1
      Posts
      24
      Views

      No one has replied

    • V

      Alfa WiFi dongle not working

      Support Request Format for Best Results
      • • • victochen
      1
      0
      Votes
      1
      Posts
      27
      Views

      No one has replied