@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)

@Nitin-Varma-Vegesna Please update your SDK to the latest... Minimum SDK required does not mean best performance.

Also, please follow this post for posting guidelines: https://forum.modalai.com/topic/2670/please-read-support-request-format-for-best-results

Finally, please provide a screenshot of your voxl-inspect-cpu output...

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

@jameskuesel Thanks! Merged

@Eric-Katzfey And this is also handy: https://www.sparkfun.com/breadboard-to-jst-ghr-04v-cable-4-pin-x-1-25mm-pitch.html

Ok, I was actually able to get J10 to work as an SPI port by following this thread. I was also able to get video feed from the lepton on slot #2 on the M0188 with this approach. I still don't know if using the devcfg.mbn file from SDK ver 1.0.0 is really the "proper" thing to do, it feels like it could lead to issues down the road. An official answer regarding J10 in SPI mode would be greatly appreciated.

@Alex-Kushleyev

The drone is wired up according to the diagram, could you explain what you mean by the pin1 location?

Here is the output for voxl-camera-server -l

starling (D0005):~$ voxl-camera-server -l existing instance of voxl-camera-server found, attempting to stop it DEBUG: Attempting to open the hal module DEBUG: SUCCESS: Camera module opened on attempt 0 DEBUG: ----------- Number of cameras: 1 DEBUG: Cam idx: 0, Cam slot: 3, Slave Address: 0x00E2, Sensor Id: 0x7750 DEBUG: Note: This list comes from the HAL module and may not be indicative DEBUG: of configurations that have full pipelines DEBUG: Number of cameras: 1 ====================================

Here is the contents of /usr/lib/camera

starling (D0005):~$ ls -l /usr/lib/camera total 6612 -rwxr-xr-x 1 root root 9912 Oct 22 03:46 com.qti.eeprom.cmk_imx577.so -rwxr-xr-x 1 root root 9904 Oct 22 03:46 com.qti.sensor.ar0144.so -rwxr-xr-x 1 root root 5808 Oct 22 03:46 com.qti.sensor.boson.so -rwxr-xr-x 1 root root 5816 Oct 22 03:46 com.qti.sensor.cmk_imx577.so -rwxr-xr-x 1 root root 5816 Oct 22 03:46 com.qti.sensor.cmk_imx577_flip.so -rwxr-xr-x 1 root root 9904 Oct 22 03:46 com.qti.sensor.imx214.so -rwxr-xr-x 1 root root 9912 Oct 22 03:46 com.qti.sensor.imx214_flip.so -rwxr-xr-x 1 root root 9904 Oct 22 03:46 com.qti.sensor.imx335.so -rwxr-xr-x 1 root root 5808 Oct 22 03:46 com.qti.sensor.imx377.so -rwxr-xr-x 1 root root 9912 Oct 22 03:46 com.qti.sensor.imx412_fpv.so -rwxr-xr-x 1 root root 9904 Oct 22 03:46 com.qti.sensor.imx664.so -rwxr-xr-x 1 root root 9904 Oct 22 03:46 com.qti.sensor.imx678.so -rwxr-xr-x 1 root root 9912 Oct 22 03:46 com.qti.sensor.imx678_flip.so -rwxr-xr-x 1 root root 9912 Oct 22 03:46 com.qti.sensor.imx678_mod.so -rwxr-xr-x 1 root root 5808 Oct 22 03:46 com.qti.sensor.irs1645.so -rwxr-xr-x 1 root root 5808 Oct 22 03:46 com.qti.sensor.irs2975c.so -rwxr-xr-x 1 root root 9904 Oct 22 03:46 com.qti.sensor.ov64b40.so -rwxr-xr-x 1 root root 9904 Oct 22 03:46 com.qti.sensor.ov7251.so -rwxr-xr-x 1 root root 9912 Oct 22 03:46 com.qti.sensor.ov7251_front_left.so -rwxr-xr-x 1 root root 9920 Oct 22 03:46 com.qti.sensor.ov7251_front_left_flip.so -rwxr-xr-x 1 root root 9920 Oct 22 03:46 com.qti.sensor.ov7251_front_right.so -rwxr-xr-x 1 root root 9920 Oct 22 03:46 com.qti.sensor.ov7251_front_right_flip.so -rwxr-xr-x 1 root root 9912 Oct 22 03:46 com.qti.sensor.ov7251_fsin.so -rwxr-xr-x 1 root root 9912 Oct 22 03:46 com.qti.sensor.ov7251_fsout.so -rwxr-xr-x 1 root root 9912 Oct 22 03:46 com.qti.sensor.ov7251_rear_left.so -rwxr-xr-x 1 root root 9920 Oct 22 03:46 com.qti.sensor.ov7251_rear_left_flip.so -rwxr-xr-x 1 root root 9912 Oct 22 03:46 com.qti.sensor.ov7251_rear_right.so -rwxr-xr-x 1 root root 9920 Oct 22 03:46 com.qti.sensor.ov7251_rear_right_flip.so -rwxr-xr-x 1 root root 9904 Oct 22 03:46 com.qti.sensor.ov9782.so -rwxr-xr-x 1 root root 9912 Oct 22 03:46 com.qti.sensor.ov9782_front_left.so -rwxr-xr-x 1 root root 9920 Oct 22 03:46 com.qti.sensor.ov9782_front_left_flip.so -rwxr-xr-x 1 root root 9920 Oct 22 03:46 com.qti.sensor.ov9782_front_right.so -rwxr-xr-x 1 root root 9920 Oct 22 03:46 com.qti.sensor.ov9782_front_right_flip.so -rwxr-xr-x 1 root root 9912 Oct 22 03:46 com.qti.sensor.ov9782_rear_left.so -rwxr-xr-x 1 root root 9920 Oct 22 03:46 com.qti.sensor.ov9782_rear_left_flip.so -rwxr-xr-x 1 root root 9912 Oct 22 03:46 com.qti.sensor.ov9782_rear_right.so -rwxr-xr-x 1 root root 9920 Oct 22 03:46 com.qti.sensor.ov9782_rear_right_flip.so -rw-r--r-- 1 root root 149272 Feb 10 17:39 com.qti.sensormodule.imx214_2.bin -rw-r--r-- 1 root root 674736 Feb 10 17:39 com.qti.sensormodule.irs1645_0.bin -rw-r--r-- 1 root root 142472 Feb 10 17:39 com.qti.sensormodule.ov7251_3.bin -rw-r--r-- 1 root root 957344 Oct 22 03:46 com.qti.tuned.cmk_imx577.bin -rw-r--r-- 1 root root 835464 Oct 22 03:46 com.qti.tuned.cmk_ov9282.bin -rw-r--r-- 1 root root 931864 Oct 22 03:46 com.qti.tuned.default.bin -rw-r--r-- 1 root root 957344 Oct 22 03:46 com.qti.tuned.imx412_fpv.bin -rw-r--r-- 1 root root 793816 Oct 22 03:46 com.qti.tuned.ov9782.bin -rw-r--r-- 1 root root 882376 Oct 22 03:46 com.qti.tuned.sony_imx335.bin drwxr-xr-x 2 root root 4096 Oct 22 04:04 components starling (D0005):~$

@Moderator said in Blue Zorro specs?:

COTS Radiomaster Zorro

Oh interesting that its 1w 915mhz! ok that's so cool. But 2k right?

@Moderator Thanks for the quick response!

Which helper would you recommend for outdoor flight configuration with GPS? I see there are several available for different variations.

An added detail: we need good relative altitude measurements at low altitudes for our custom precision landing solution.

@Eric-Katzfey thank you for that. I have another issue, when i toggle the controller from manual mode to position mode, sometimes he drone holds it height, but sometimes, it just flies away and crashes. I have calibrated the compass, gyro and accelerometer, it still exhibit same behavior (infact thats how all the drones behave), so that means there is something I am not doing right, or I am missing. I ran ros2 topic echo /fmu/out/vehicle_odometry to see whats happening with the VIO, this was the output:

timestamp: 1770551010017542
timestamp_sample: 1770551010015689
pose_frame: 1
position: [1.8852728605270386, 0.3567788600921631, -7.352701663970947]
q: [0.9946960806846619, 0.013231446966528893, -0.00516587495803833, 0.1018725335597992]
velocity_frame: 1
velocity: [-0.0011717384913936257, 0.002392425434663892, -0.004358584061264992]
angular_velocity: [0.0007909969426691532, -0.003044810611754656, -0.0005365335382521152]
position_variance: [0.00031149128335528076, 0.00031149270944297314, 0.0004529791767708957]
orientation_variance: [1.4802474652242381e-05, 1.478460126236314e-05, 0.00020037211652379483]
velocity_variance: [0.0006313467747531831, 0.0006313963094726205, 0.0006925623747520149]
reset_counter: 25
quality: 0

This is weird because the drone is on the ground, why is my Z reading -7.352?
Also, i keep getting heading_good_for_control: False (what can i do to fix it?)

I moved the drone round the lab to capture features, yet the quality is still zero, and why does it keep resetting (from the reset_counter)?.

Kindly help.
Thanks
Screenshot from 2026-02-11 13-04-11.png

@jbhines929 Hi JB, sorry you are running into issues.

One quick thought, is to update the Orqa goggles firmware - https://orqafpv.com/downloads . There were issues at one point, but we have been updating them in the factory recently before shipping

To further isolate, can you plug a different display into the VRX DisplayPort output? Or, try to connect ADB to the VRX? that would let us know if it's a Goggles or VRX issue. (sounds like goggles if they are clicking)

You can always submit an RMA here: https://modalai.com/rma

@Alex-Kushleyev This was what I got when opening the file in SolidWorks:
a3f8d672-9ddc-465e-85c5-f40e6203ce29-image.png

I found a symlink mismatch in the file tree... pushing M073 PCB board with M0172 connector.

Anyway, it is solved now:

8f13ae56-bfcd-4829-8bd1-e238097e9bb0-image.png

Thank you.

Regards,
Jacob

@jon For MONOTONIC the apps side uses the slpi version so that they are in sync. Your application should use apps MONOTONIC. PX4 will convert it using timesync.

@joshuagaus Sorry, but SBUS is not supported. That option will be hidden in future SDK releases to prevent confusion.

@jimbow77 those drones are for aeronautical research. we recommend installing a dronetag or similar

@voxltester said in Microdds not working with Microhard modem:

Do you have any ideas on how to resolve this?

There might be a dependency in the service file - I would recommend taking a look at the file in /etc/systemd/system/voxl-microdds-agent.service and see if there are any dependencies on having WLAN devices plugged in - I am under the impression there is not that dependency, but there is a conflict on which interface you want the dds to start on - so ideally you can add in which interface you wish to leverage into the service file.

Zach

@clange It is technically possible as Stinger is supported by the same VOXL SDK as all of our products. It would likely be a lot of software development to make it happen though

@tejasram The source code is here: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-tag-detector. Perhaps try changing #define MAX_TAG_LOCATIONS 64 in locations.h.