@bendraper I just tried it and it is working now:

modalai@modalai:~/development/modalai/voxl-vision-hub (dev)$ voxl-docker -i voxl-cross launching image: voxl-cross with the following command: docker run --rm -it --net=host --privileged -w /home/modalai --volume=/dev/bus/usb:/dev/bus/usb -e LOCAL_USER_ID=0 -e LOCAL_USER_NAME=root -e LOCAL_GID=0 -v /home/modalai/development/modalai/voxl-vision-hub:/home/root:rw -w /home/root voxl-cross /bin/bash -l voxl-cross(4.4):~(dev)(1.9.21)$ ./clean.sh voxl-cross(4.4):~(dev)(1.9.21)$ ./install_build_deps.sh qrb5165 dev using qrb5165 dev debian repo Ign:1 http://voxl-packages.modalai.com ./dists/qrb5165/dev/binary-arm64/ InRelease Ign:2 http://voxl-packages.modalai.com ./dists/qrb5165/dev/binary-arm64/ Release Get:3 http://voxl-packages.modalai.com ./dists/qrb5165/dev/binary-arm64/ Packages [76.8 kB] Fetched 76.8 kB in 1s (122 kB/s) Reading package lists... Done INSTALLING: libmodal-json libmodal-pipe librc-math libmodal-cv voxl-mpa-tools voxl-mavlink Reading package lists... Done Building dependency tree... Done Reading state information... Done The following NEW packages will be installed: libmodal-cv:arm64 libmodal-json:arm64 libmodal-pipe:arm64 librc-math:arm64 voxl-mavlink:arm64 voxl-mpa-tools:arm64 0 upgraded, 6 newly installed, 0 to remove and 2 not upgraded. Need to get 5026 kB of archives. After this operation, 0 B of additional disk space will be used. Get:1 http://voxl-packages.modalai.com ./dists/qrb5165/dev/binary-arm64/ librc-math 1.4.6-202510091209 [180 kB] Get:2 http://voxl-packages.modalai.com ./dists/qrb5165/dev/binary-arm64/ libmodal-cv 0.6.0-202510141028 [3887 kB] Get:3 http://voxl-packages.modalai.com ./dists/qrb5165/dev/binary-arm64/ libmodal-json 0.4.8-202510091202 [52.5 kB] Get:4 http://voxl-packages.modalai.com ./dists/qrb5165/dev/binary-arm64/ libmodal-pipe 2.14.10-202601210836 [151 kB] Get:5 http://voxl-packages.modalai.com ./dists/qrb5165/dev/binary-arm64/ voxl-mavlink 0.1.6-202511141246 [650 kB] Get:6 http://voxl-packages.modalai.com ./dists/qrb5165/dev/binary-arm64/ voxl-mpa-tools 1.5.6-202601201423 [106 kB] Fetched 5026 kB in 1s (6805 kB/s) debconf: unable to initialize frontend: Dialog debconf: (No usable dialog-like program is installed, so the dialog based frontend cannot be used. at /usr/share/perl5/Debconf/FrontEnd/Dialog.pm line 79, <STDIN> line 6.) debconf: falling back to frontend: Readline Selecting previously unselected package librc-math:arm64. (Reading database ... 35164 files and directories currently installed.) Preparing to unpack .../0-librc-math_1.4.6-202510091209_arm64.deb ... Unpacking librc-math:arm64 (1.4.6-202510091209) ... Selecting previously unselected package libmodal-cv:arm64. Preparing to unpack .../1-libmodal-cv_0.6.0-202510141028_arm64.deb ... Unpacking libmodal-cv:arm64 (0.6.0-202510141028) ... Selecting previously unselected package libmodal-json:arm64. Preparing to unpack .../2-libmodal-json_0.4.8-202510091202_arm64.deb ... Unpacking libmodal-json:arm64 (0.4.8-202510091202) ... Selecting previously unselected package libmodal-pipe:arm64. Preparing to unpack .../3-libmodal-pipe_2.14.10-202601210836_arm64.deb ... Unpacking libmodal-pipe:arm64 (2.14.10-202601210836) ... Selecting previously unselected package voxl-mavlink:arm64. Preparing to unpack .../4-voxl-mavlink_0.1.6-202511141246_arm64.deb ... Unpacking voxl-mavlink:arm64 (0.1.6-202511141246) ... Selecting previously unselected package voxl-mpa-tools:arm64. Preparing to unpack .../5-voxl-mpa-tools_1.5.6-202601201423_arm64.deb ... Unpacking voxl-mpa-tools:arm64 (1.5.6-202601201423) ... Setting up voxl-mavlink:arm64 (0.1.6-202511141246) ... Setting up libmodal-json:arm64 (0.4.8-202510091202) ... Setting up librc-math:arm64 (1.4.6-202510091209) ... Setting up libmodal-pipe:arm64 (2.14.10-202601210836) ... Setting up libmodal-cv:arm64 (0.6.0-202510141028) ... Setting up voxl-mpa-tools:arm64 (1.5.6-202601201423) ... Processing triggers for libc-bin (2.39-0ubuntu8.5) ... Done installing dependencies voxl-cross(4.4):~(dev)(1.9.21)$ ./build.sh qrb5165 Found voxl-cross version: 4.4 -- --------------------------------------------------------- -- Using voxl-cross 64-bit toolchain for QRB5165 ubun1 18.04 -- C Compiler : /usr/bin/aarch64-linux-gnu-gcc-7 -- C++ Compiler: /usr/bin/aarch64-linux-gnu-g++-7 -- Sysroot : /opt/sysroots/qrb5165_1 -- C flags : -isystem=/usr/lib/gcc/aarch64-linux-gnu/7/include -isystem=/usr/local/include -isystem=/usr/lib/gcc/aarch64-linux-gnu/7/include-fixed -isystem=/usr/include/aarch64-linux-gnu -isystem=/usr/include -idirafter /usr/include -march=armv8.2-a -- CXX flags : -isystem=/usr/include/c++/7 -isystem=/usr/include/aarch64-linux-gnu/c++/7 -isystem=/usr/include/c++/7/backward -isystem=/usr/lib/gcc/aarch64-linux-gnu/7/include -isystem=/usr/local/include -isystem=/usr/lib/gcc/aarch64-linux-gnu/7/include-fixed -isystem=/usr/include/aarch64-linux-gnu -isystem=/usr/include -idirafter /usr/include -march=armv8.2-a -- Link Flags : -B/opt/sysroots/qrb5165_1/usr/lib/ -L/opt/sysroots/qrb5165_1/usr/lib/gcc/aarch64-linux-gnu/7 -L/opt/sysroots/qrb5165_1/usr/lib/aarch64-linux-gnu -L/opt/sysroots/qrb5165_1/usr/lib -L/opt/sysroots/qrb5165_1/lib/aarch64-linux-gnu -L/opt/sysroots/qrb5165_1/usr/lib/aarch64-linux-gnu -L/opt/sysroots/qrb5165_1/lib -L/usr/lib64 -L/usr/lib -- The C compiler identification is GNU 7.3.0 -- The CXX compiler identification is GNU 7.3.0 -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Check for working C compiler: /usr/bin/aarch64-linux-gnu-gcc-7 - skipped -- Detecting C compile features -- Detecting C compile features - done -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Check for working CXX compiler: /usr/bin/aarch64-linux-gnu-g++-7 - skipped -- Detecting CXX compile features -- Detecting CXX compile features - done -- Configuring done (0.3s) -- Generating done (0.0s) -- Build files have been written to: /home/root/build [ 6%] Building C object utils/CMakeFiles/voxl-inspect-vfc.dir/voxl-inspect-vfc.c.o [ 6%] Building C object utils/CMakeFiles/voxl-calibrate-px4-horizon.dir/voxl-calibrate-px4-horizon.c.o [ 12%] Building C object src/CMakeFiles/voxl-vision-hub.dir/control_input.c.o [ 12%] Building C object src/CMakeFiles/voxl-vision-hub.dir/fixed_pose_input.c.o [ 18%] Building C object src/CMakeFiles/voxl-vision-hub.dir/geometry.c.o [ 18%] Building C object src/CMakeFiles/voxl-vision-hub.dir/autopilot_monitor.c.o [ 24%] Building C object src/CMakeFiles/voxl-vision-hub.dir/config_file.c.o [ 24%] Building C object src/CMakeFiles/voxl-vision-hub.dir/horizon_cal.c.o [ 30%] Building C object src/CMakeFiles/voxl-vision-hub.dir/main.c.o [ 36%] Building C object src/CMakeFiles/voxl-vision-hub.dir/mavlink_io.c.o [ 36%] Building C object src/CMakeFiles/voxl-vision-hub.dir/imu_manager.c.o [ 27%] Building C object src/CMakeFiles/voxl-vision-hub.dir/horizon_cal_file.c.o [ 39%] Building C object src/CMakeFiles/voxl-vision-hub.dir/mavlink_for_ros.c.o [ 42%] Building C object src/CMakeFiles/voxl-vision-hub.dir/offboard_backtrack.c.o [ 45%] Building C object src/CMakeFiles/voxl-vision-hub.dir/obs_pc_filter.c.o [ 48%] Building C object src/CMakeFiles/voxl-vision-hub.dir/misc.c.o [ 51%] Building C object src/CMakeFiles/voxl-vision-hub.dir/offboard_figure_eight.c.o [ 54%] Building C object src/CMakeFiles/voxl-vision-hub.dir/offboard_follow_tag.c.o [ 57%] Building C object src/CMakeFiles/voxl-vision-hub.dir/offboard_mode.c.o [ 60%] Linking C executable voxl-calibrate-px4-horizon [ 60%] Built target voxl-calibrate-px4-horizon [ 63%] Building C object src/CMakeFiles/voxl-vision-hub.dir/offboard_trajectory.c.o [ 66%] Linking C executable voxl-inspect-vfc [ 66%] Built target voxl-inspect-vfc [ 69%] Building C object src/CMakeFiles/voxl-vision-hub.dir/offboard_vfc.c.o [ 72%] Building C object src/CMakeFiles/voxl-vision-hub.dir/offboard_wps.c.o [ 75%] Building C object src/CMakeFiles/voxl-vision-hub.dir/pose_filter.c.o [ 78%] Building C object src/CMakeFiles/voxl-vision-hub.dir/state_manager.c.o [ 81%] Building C object src/CMakeFiles/voxl-vision-hub.dir/tag_manager.c.o [ 84%] Building CXX object src/CMakeFiles/voxl-vision-hub.dir/trajectory_monitor.cpp.o [ 87%] Building C object src/CMakeFiles/voxl-vision-hub.dir/transform_ringbuf.c.o [ 90%] Building C object src/CMakeFiles/voxl-vision-hub.dir/vio_manager.c.o [ 93%] Building C object src/CMakeFiles/voxl-vision-hub.dir/voa_manager.c.o [ 96%] Building C object src/CMakeFiles/voxl-vision-hub.dir/voxl_vfc_config.c.o [100%] Linking CXX executable voxl-vision-hub [100%] Built target voxl-vision-hub

@SKA , just to clarify, if you disable EIS, then undistortion is disabled, you will see fisheye image. If EIS is enabled, the output will be undistorted (zoomed in a bit). Part of EIS figures out the minimum zoom level such that the undistorted image is maximized (no black pixels at the edges), so if EIS is enabled and you set misp_zoom to 1.0, the image will appear slightly zoomed in because it is undistorted (and parts of the image are no longer visible, what used to be the corners).

if you set misp_zoom to 1.0 and eis is disabled, you will see the image that is not zoomed in. If your misp width and height aspect ratio differs from the raw preview aspect ratio, then misp will crop the top+bottom (usually), to get the correct aspect ratio. For example, if your raw preview size is 4040x3040 and your misp output is 1920x1080, then misp will first crop the top and bottom of the raw image to get the 16:9 aspect ratio and then resize the image to 1920x1080 (well actually all the steps are happening at the same time, not sequentially).

I have to ask, how do you know that your image is zoomed in and not original? btw since you have the small video stream enabled, you can look at that image (hires_small_color) to see if the zoom level is the same - this is coming from the ISP and it should also crop + resize to your resolution for small video stream you have selected (you can make the small video resolution the same as misp output resolution and compare images, they should look identical zoom-wise)

Alex

Hi @shawn_ricardo
Yes, any I2C port on an expansion board has 2.2K pullups to the voltage on Pin 1 of that connector.

The Linux Kernel user guide has info on which QUPS are enabled or not in which system image.
3356687b-6e2d-4443-9a15-6e9aa07566d1-image.png
and specifically this helps:
https://docs.modalai.com/voxl2-qups/
Note not all QUPs have actually been enabled in the system, but with the sets of ports we have enabled, we never had any customer claim of a shortage:

@Samuel-Lehman

If you have the original adapter for Boson+ which allows you to connect it to a USB port, then you can use the FLIR SDK (we use Boson Plus SDK 4.0). Unfortunately, M0153 board does not have J3 connector populated, which would allow you to connect a serial-to-usb adapter to it.

We have several python scripts, which use the Boson SDK to help set up the Boson sensor without the GUI.

query basic sensor info:
https://storage.googleapis.com/modalai_public/temp/boson/boson_read.py

set up sensor for 8bit MIPI mode, 60fps (option to set 30fps):
https://storage.googleapis.com/modalai_public/temp/boson/boson_set_8bit.py

You can put both of these scripts next to the BosonSDK directory and run them. Please check the USB port name inside the scripts.

Once you get that configured, you can put M0153 back on boson. Regarding where to plug it in on Voxl2, please tell me what other cameras you plan to use with your Boson.

Alex

Hey @greg_s,
Can you post your voxl-logs and flight logs?

Thanks

Hi @Tormod-Axelsson-Hagen
Our descriptions tell you all you might need to know to make your own power module:

2-6S tolerant (so VIN capable of up to ~25.2V+)

6A output at 5V

Current monitoring if you do not use our ESCs (our ESCs provide a current reading to keep PX4 and other autopilots happy and for accurate remaining battery %)

Connector format of your choosing but the Molex 4-pin MINI SPOX is the direct 1:1 for VOXL 2 https://www.digikey.com/en/products/detail/molex/0022057045/403343?s=N4IgTCBcDaIAxzGOBWA7HALCkBdAvkA

If you want to make this flexible for VOXL 2 Mini, make it capable of generating 3.8V and use the MOLEX MICRO ONE family of connectors https://www.digikey.com/en/products/detail/molex/2059720041/13235081?s=N4IgTCBcDa4AwFYCcB2Mc4BYCMIC6AvkA)

The rest is up to you based on your design intent and supply chain constraints and preferred vendors.
Hope this helped!

Hi @jon ,

Can you please confirm a few items:

you are not using a modalai ESC and the voxl2_io board is controlling ESCs usign channels 1-4? are you able to actuate the channel 5 using QGC actuator test? are you able to map an RC switch to control channel 5 using your RC? is that a viable option for you?

I understand your issue, it seems there is some disconnect between the high level API to send the VehicleCommand and the low level voxl2_io driver in px4 running on DSP. If the actuator test and rc mapping is working then, the issue is going to be at a higher level, potentially the VehicleCommand message not getting through from the CPU side of px4 to the DSP. We will check on that.

Alex

Hey @yunwool
I would recommend writing export ROS_DOMAIN_ID=1 in your ~/.bashrc and then restarting all terminals so the change takes effect. This should prevent other ROS 2 messages from appearing in your environment, since you’ll effectively be using your own domain.

Optionally, you may want to look into the ROS_LOCALHOST_ONLY variable as well, since I do believe if someone else sets their domain ID to 1, you would see their messages.

Hello,

This behavior sounds like turtle mode may be engaged. What are you using for a controller?

If it is a zorro blue the turtle mode switch is in the top left. As a general rule of thumb all switches should be away from you prior to arming. Controls have changed slightly since the guide on the docs page has been updated. I am working on updating them now. For now, please see the image on this forum post for current control mapping.

Hope this help,
Robbie

You can find the source code here: https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-logger/-/blob/master/tools/voxl-replay.cpp

@zaimin78 We no longer sell that module. We do have some in stock though if you reach out at https://modalai.com/contact we should be able to get you a custom order.

@Arsalan-Sheikh You can find a 3D STEP file here https://docs.modalai.com/starling-2-max-datasheet/

We aren't familiar with the Gazebo requirements so hopefully the STEP file gets you what you need

@kgn-mdlai Thank you for bringing this up, a fix to this is currently being worked on.
Thanks

@paul-foley , it looks like our voxl-lepton-server is not setting the FPS field in the metadata : https://gitlab.com/voxl-public/voxl-sdk/services/voxl-lepton-server/-/blob/master/src/publisher.c?ref_type=heads#L338 . I do see above that we do set the framerate in json info about the output pipe (cJSON_AddNumberToObject(json, "framerate", 9);) and the framerate is hardcoded to 9, since i guess all lepton sensors are running at 9fps.

I just made the change to publish the fps : https://gitlab.com/voxl-public/voxl-sdk/services/voxl-lepton-server/-/commit/110b9cce4c021322566e46f36d6878fca55f7d26

You are using an older voxl SDK, so installing latest nightly package (from http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/ will probably not work). So you probably need to take the source of the version you are running now (1.3.3 : https://gitlab.com/voxl-public/voxl-sdk/services/voxl-lepton-server/-/tree/v1.3.3?ref_type=tags) and apply the same change in the source code and build it.

Since i just pushed to dev branch, a new version of leptop server should appear in our package repo tomorrow, and you can download and try it. it might work, but your SDK is 2 major versions down from where we are now (1.4.x vs 1.6.x), so you may want to just build the patched version 1.3.3 :

git clone https://gitlab.com/voxl-public/voxl-sdk/services/voxl-lepton-server.git cd voxl-lepton-server git checkout v1.3.3 #make the change in publisher.c to include fps ... ... #start voxl-cross docker (you can download it in our downloads section: https://developer.modalai.com/asset) docker run -it --rm -v `pwd`:/opt/code -w /opt/code voxl-cross:V4.6 bash ./install_build_deps.sh qrb5165 sdk-1.4 ./build.sh qrb5165 ./make_package.sh #then, outside docker, deploy the new package to voxl2 via adb ./deploy_to_voxl.sh

Please let me know if this works for you!

Alex