@KnightHawk , the definition is in libmodal-pipe library.

https://gitlab.com/voxl-public/voxl-sdk/core-libs/libmodal-pipe/-/blob/master/library/include/modal_pipe_interfaces.h?ref_type=heads#L202

Alex

@Rajamani , Yes you can connect a raspberry pi to VOXL2 via a USB C cable (using the USB C port next to the VOXL2 power connector). The RPI will be the "host" in this case, and you can use ADB from RPI to access voxl2 (just like connecting VOXL2 to a laptop or a desktop computer).

Please make sure to use the USB 3.0 port on the raspberry pi and test the cable / usb port before doing any further design plans (just to make sure it works for you).

Alex

@Hector-Gutierrez Clarification on the pictures. The top picture is the centered position of the TOF ribbon cable. The bottom picture can be disregarded. The connection is done on the centered position (top picture). Thanks.

@robertociuch,

Currently, you cannot set a fixed exposure and gain from voxl-camera-server.conf file. However, after camera server starts, you can send the following command to set the fixed exposure and gain:

voxl-send-command <name-of-output-stream> set_exp_gain <exposure_ms_float> <gain_int>

for example

voxl-send-command tracking set_exp_gain 20.0 100

The name-of-output-stream should match the pipe/stream name that you are using. Since there can be multiple streams for the same camera, you can use any stream to set this param.

We will add the ability to set constant exposure / gain to camera server in the future release.

Alex

@tom can anyone help me with this

@tom Screenshot from 2025-06-13 10-11-11.png

@Alex-Kushleyev, any update on whether I can buy 4 of these RGB AR0144s?

The EIS branch is ready for initial tested. Please see the doc file:

https://gitlab.com/voxl-public/voxl-sdk/services/voxl-camera-server/-/blob/eis/voxl2-eis.md

You will need to build the camera server from this branch (and it's best to be able to do that anyway, if experimenting with eis..). Please note that you will need the latest voxl-cross:V4.0 docker image to build the camera server.

The eis branch is sync'ed to latest dev as of today. Added basic params for specifying EIS behavior, as documented (eis_mode, eis_view, eis_follow_rate). Parameter usage is documented as well as basic voxl-camera-server.conf example is provided. Parameter names may change in the future, but the changes will be documented.

Please use the latest IMX412 driver as instructed. For best results, use input resolution of 4040x3040 and output resolution can be anything. including 3840x2160. 4K60 output is supported (h265 strongly recommended), but you will not be able to view that via the voxl-portal.

This release also supports eis on 3 additional MISP channels (can be different resolutions).

We will be focusing next on improving stabilized ROI behavior for smoother output and experimenting more with rolling shutter compensation.

Please try it out, i would be excited to get initial feedback.

Alex

@george-kollamkulam , yes FLIR Lepton 3.5 just inserts into M0157 board which has the socket for the bare Lepton sensor.

Once you install the sensor into the docket, boot up voxl2 and run voxl-lepton-server. It will autogenerate a default config file /etc/modalai/voxl-lepton-server.conf that will look like this.

{ "spi_bus": 14, "spi_speed": 16000000, "en_i2c": false, "i2c_bus": 0, "shutter_mode": "auto", "flow_shutter_s": 20, "closePeriodInFramesInAir": 1, "openPeriodInFramesInAir": 0, "desiredFfcPeriodMsInAir": 360000, "desiredFfcTempDeltaCentiDegInAir": 600, "en_rotate": false }

You will need to change the SPI bus to 0 and , set en_i2c to true and i2c_bus to 4 because this is the configuration for this Hardware arrangement (M0173 + M0157) per the following documentation : https://docs.modalai.com/voxl2-d0014/#downward-range-finder-and-flir-lepton

Then you can run voxl-lepton-server again in foreground or enable the systemd server using systemctl enable voxl-lepton-server and systemctl start voxl-lepton-server . After that you shoud be able to see the Lepton output using voxl-portal.

Alex

@Cliff-Wong Thanks for your response. How can I enable only one camera at a time? If the camera calibration is bad, how can I recalibrate them? Lastly, is there a way to test the VIO setup in a HITL simulation before performing an actual flight, just to verify that everything works as expected?

@george-kollamkulam

Hi,

ROS2 Melodic requires Ubuntu 20.04 and the VOXL runs Ubuntu 18.04. You could install ROS2 Foxy following this guide. $ apt-get install voxl-ros2-foxy $ source /opt/ros/foxy/local_setup.bash Likewise you can't directly use ROS2 humble on the VOXL because it requires Ubuntu 22.04. We usually run ROS2 inside a docker container. Check out the prebuilt ROS2 images you can have as the base (https://hub.docker.com/_/ros/).

Let me know if that helps!

Ted

@Alex-Kushleyev Thank you! For the moment we have decided to stick with USB since we can fit that into the current electrical architecture, but I appreciate the offer and may take you up on it at some point in the future if our design changes.

Thanks,
Kerry

@Aaron-Porter The VFC flight mode that will be entered when switching into offboard is dependant on what is specified in /etc/modalai/voxl-vision-hub.conf

Example here:

"vfc_submode_ch": 6, "vfc_alt_mode_rc_min": 0, "vfc_alt_mode_rc_max": 0, "vfc_flow_mode_rc_min": 1700, "vfc_flow_mode_rc_max": 2100, "vfc_hybrid_flow_mode_rc_min": 0, "vfc_hybrid_flow_mode_rc_max": 0, "vfc_position_mode_rc_min": 1300, "vfc_position_mode_rc_max": 1700, "vfc_traj_mode_rc_min": 0, "vfc_traj_mode_rc_max": 0,

In this example, VFC flight modes are monitored on channel 6
Depending on what position the switch is in, a different VFC mode will be entered

So for example, if the middle position of flight modes is set to "Offboard", when the switch is flipped into the middle position ~1500, VFC position mode will be entered

@bendraper We generally have to activate the SIM card by inserting it into either an android phone or iphone and activate it with the google fi app before using it with VOXL2

@AidanGallagher With an M0130 USB breakout board

M0130: https://www.modalai.com/products/m0130-3?variant=48186331693360

You can use this cable:
MCBL-00085: https://www.modalai.com/products/mcbl-00085?_pos=2&_sid=0c5d87c5e&_ss=r

and get rid of the need for the doodle breakout board

@taiwohazeez Have you reviewed this doc?

https://docs.modalai.com/orqa-ghost/

You'll have to use the Orqa FPV controller, an ELRS commando will be incompatible with this receiver

@Alex-Kushleyev

The issue has been resolved. Thank you for your help.