ModalAI Forum

Thanks! I'll get back to you if I have any more questions.

Vinny and Tom, thank you so much!! Final Follow up questions below and I should be good Can a userspace service drive GPIO_46 as a plain output while the kernel SPI driver holds it as CS1 for /dev/spidev14.1, or do we need to remove that chip select from the device tree? What state are GPIO_46 and the level shifter in from power-on until the SPI driver loads? On the ESC cables: Does MCBL-00015-2 replace the kit's UART cable? It's listed as straight-through 1:1, but the M0138 data sheet says to leave J1 pin 1 (3.3 V reference out) unconnected, and our notes show VOXL 2 J18 pin 1 also carries 3.3 V. Is the 1:1 cable fine on the M0138, or should pin 1 be left open? Can the 150 mm -2 version be ordered for a production build? Is there a 150 mm version of the kit's VOXL 2 power cable? Is a stable SDK planned that includes voxl-px4 1.18.0-1.0.12 or newer?

On the Wi-Fi questions: The -M36 option ships with an Alfa Network AWUS036EACS (802.11ac AC600, dual band 2.4/5 GHz, Realtek chipset, made in Taiwan). It is listed on the Starling 2 Max datasheet. Yes, you can use a different USB adapter, as long as the VOXL 2 kernel has a driver for its chipset. You cannot install arbitrary vendor drivers without rebuilding kernel modules, so pick an adapter based on one of the Realtek chipsets we support: RTL8812AU or RTL8821CU / RTL8811CU. The adapters we have tested are listed on the VOXL 2 WiFi Setup page. If you find a Japan-certified (Giteki) adapter with one of those chipsets, it should work with voxl-wifi in both Station and SoftAP mode. If you cannot find a certified adapter with a supported chipset, another option is a USB-to-Ethernet adapter on VOXL 2 connected to a small Japan-certified Wi-Fi bridge or travel router on the drone. VOXL 2 only sees Ethernet, so there are no driver constraints. In SoftAP mode the default hostapd country code is US. For use in Japan, set country_code=JP in /data/misc/wifi/hostapd.conf after running voxl-wifi so the radio uses Japanese channel and power rules.

Resolving this over email. Thanks!

Thanks Tom and Eric, finally resolved this, it ended up being a power supply issue. The unit we used to typically run it on the bench seemingly browned out somewhere in the flashing procedure.

@Vinny said: M0041에 대한 자세한 설명(장치 및 I2C 주소 포함)은 다음 링크에서 확인할 수 있습니다: We have confirmed that the M0041 uses the INA231. We would like to use the INA260 in place of the INA231. Could you please confirm whether the INA260 can be used with the M0041 and the existing VOXL 2 software? If so, what hardware and software changes would be required, including any modifications to the current sensor driver or configuration?

@Vinny said: J3는 3번 핀과 5번 핀(GPIO_23 RXD, GPIO_22 TXD)을 통해 UART7만 제공하며, 해당 장치는 /dev/ttyHS1로 열거됩니다. UART13은 J3가 아닌 고속 B2B 포트인 J5에 있습니다. J3 및 J5의 전체 핀 구성은 다음 링크를 참조 하십시오. https://docs.modalai.com/voxl2-connectors/ We would like to use UART7 on J3 and UART13 on J5 to communicate with an STM32F103. Are these UART interfaces enabled by default, or is any additional hardware or software configuration required?

Files promised below voxl-mapper-packages.zip

Hi @elvis-bicharri We are working on this, please hang tight. I'm trying to get the cognizant ME on this one. Thanks!

Hi @alex-z-1 I am trying to get the cognizant ME get me a proper link for you, please stay tuned.

Hi @김다연 GPIO 109 sync through M0155 Yes. GPIO 109 is on pin 26 of J6, J7 and J8, and M0155 passes it through to the sensor. Same sync signal M0173 uses. It is driven by voxl-fsync-mod. IR + EO on J6 and J7 Not automatic. Two things are required in software. The sensors must be running a sensor module built with sync input enabled (the fsin variants under /usr/share/modalai/chi-cdk/, selected by camera HW ID), and voxl-fsync-mod must be enabled and configured for the correct GPIO. Without the fsin sensor module, the sensor ignores the trigger and free-runs. The fsync period also sets the frame rate, which is the cleaner answer to your earlier 8.6 fps question: drive the rate from voxl-fsync-mod rather than adding a sensor mode to the driver.

Hi @davidtorresm, I dont believe ros2 foxy nor mpa-to-ros2 was included in the 1.8 release - please run the following to pull down the packages individually: wget http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/voxl-mpa-to-ros2_0.1.0-202610080956_arm64.deb wget http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/voxl-ros2-foxy_0.0.1-202511141235_arm64.deb Obvioulsy you will need internet to leverage the wget- but once those are pulled - feel free to just run sudo dpkg -i on both those packages followed by a voxl-configure-mpa-to-ros2 Zach

There's some documentation here: https://docs.px4.io/main/en/flight_modes/offboard#ros-2-offboard-control. I would review that to make sure you are following the correct procedures.

Hi @john-keller , Glad to hear that it works As for the other issue, its possible that this is just a transient bus error somewhere that is causing the problem. If you encounter it again it would definitely be worth taking a closer look. Feel to open another post and tag me in it and I will take a look. Thanks!

Hi @czarsimon Flickering is not acceptable and it is worth chasing before you fly it. DS1 is driven by the 5 V eFuse on VOXL 2. Solid green means power good with no fault. Any flicker means the eFuse is toggling power-good or asserting a fault and recovering, so you are operating right at the edge of a trip. The system may look fine on the bench and then brown out when something shifts, such as a colder battery, a warmer ambient, or a transient load. Two questions before we can tell you which fault it is. Are your peripherals powered from the same upstream VBAT supply as VOXL 2, or from VOXL 2’s own 5 V output connectors? And can you scope VDCIN_5V at J4 pin 1 while the flicker is happening? What you are looking for is whether the rail is sagging or spiking. Sagging points at supply capacity: VOXL 2 expects 5 V ±5%, and the power module is set to 5.08 V no-load specifically to absorb cable drop. Adding load on the same supply eats that margin. Spiking above 5.6 V trips the eFuse overvoltage protection instead, which is a transient problem at the peripheral rather than a capacity problem. Also note our cable-connector power outputs are rated 1 A each and the system cannot supply 1 A on all connectors simultaneously: https://docs.modalai.com/voxl2-connectors/#power-inputoutput-important-note If it is droop and the total load is genuinely beyond one power module, separate the peripherals onto their own supply (using a second power module regulated from your VBAT) rather than sharing the VOXL 2 feed. If it is overvoltage, more supply capacity will not help.