@tom ill do that tomorrow when I'm back in the office

@Cliff-Wong @Eric-Katzfey Any updates?

@Andrew-Jue Hi! Could you share how you managed to get your VOXL2 working with motion capture? Did you also use Starling 2 or just a VOXL2 on another platform? It looks like I ran into the same problems as you while trying to get my Starling 2 (also using VOXL2) to position hold with an Optitrack setup

I tried following your troubleshooting steps and replicating your params exactly, and while it seems like it can be toggled into position hold, it doesn't hold its position at all. It just kinda flies off away as soon as I switch it into position hold. I did a screen recording of the outputs of /mavros/vision_pose/pose and /mavros/local_position/pose during flight and noticed that the values for these topics diverges and converges seemingly randomly

Before flight (Left: /mavros/vision_pose/pose, Right: /mavros/local_position/pose)
24e5cb61-9e40-464e-8941-6c60f804f9b4-Screenshot from 2025-06-11 18-24-58.png

During pos hold (Left: /mavros/vision_pose/pose, Right: /mavros/local_position/pose)
73806f5a-aef4-44f7-9cda-90fa7cd39789-image.png

I reviewed the flight logs and it does look like something is commanding it to move away from its position for some reason.
9df2c832-cb27-4fee-af22-ed7b037e9351-image.png

My theory is that the usb wifi on the Starling2 might be introducing some latency that is causing it to fly erratically, although the visual odometry latency seems fine (I think)

f8abeff3-8923-4ead-a9c6-b6a2134ad612-image.png

Do you have any hints as to what the problem might be?

These are the changes I made to switch the Starling 2 to receive data from the Optitrack system:

In /etc/modalai/voxl-vision-hub.conf, changed en_vio to false { "config_file_version": 1, "en_localhost_mavlink_udp": true, "localhost_udp_port_number": 14551, "en_vio": false, "vio_pipe": "qvio", "secondary_vio_pipe": "ov", "vfc_vio_pipe": "ov", "en_reset_vio_if_initialized_inverted": true, "vio_warmup_s": 3, "send_odom_while_failed": true, "horizon_cal_tolerance": 0.5, "en_hitl": false, "offboard_mode": "off", "follow_tag_id": 0, "figure_eight_move_home": true, "robot_radius": 0.300000011920929, "collision_sampling_dt": 0.1, "max_lookahead_distance": 1, "backtrack_seconds": 60, "backtrack_rc_chan": 8, "backtrack_rc_thresh": 1500, "wps_move_home": true, "wps_stride": 0, "wps_timeout": 0, "wps_damp": 1, "wps_vfc_mission": true, "en_tag_fixed_frame": false, "fixed_frame_filter_len": 5, "en_transform_mavlink_pos_setpoints_from_fixed_frame": false, "vfc_rate": 100, "vfc_rc_chan_min": 980, "vfc_rc_chan_max": 2020, "vfc_thrust_ch": 3, "vfc_roll_ch": 1, "vfc_pitch_ch": 2, "vfc_yaw_ch": 4, "vfc_submode_ch": 6, "vfc_alt_mode_rc_min": 0, "vfc_alt_mode_rc_max": 0, "vfc_flow_mode_rc_min": 0, "vfc_flow_mode_rc_max": 0, "vfc_hybrid_flow_mode_rc_min": 0, "vfc_hybrid_flow_mode_rc_max": 0, "vfc_position_mode_rc_min": 0, "vfc_position_mode_rc_max": 2100, "vfc_traj_mode_rc_min": 0, "vfc_traj_mode_rc_max": 0, "vfc_yaw_deadband": 30, "vfc_vxy_deadband": 50, "vfc_vz_deadband": 150, "vfc_min_thrust": 0, "vfc_max_thrust": 0.800000011920929, "vfc_tilt_max": 0.43599998950958252, "vfc_yaw_rate_max": 3, "vfc_thrust_hover": 0.5, "vfc_vz_max": 1, "vfc_kp_z": 5.2899999618530273, "vfc_kd_z": 5.9800000190734863, "vfc_vxy_max": 3, "vfc_kp_xy": 0.63999998569488525, "vfc_kd_xy": 2.559999942779541, "vfc_kp_z_vio": 5.2899999618530273, "vfc_kd_z_vio": 5.9800000190734863, "vfc_kp_xy_vio": 3.2400000095367432, "vfc_kd_xy_vio": 3.9600000381469727, "vfc_w_filt_xy_vio": 10, "vfc_vel_ff_factor_vio": 0.899999976158142, "vfc_xy_acc_limit_vio": 2.5, "vfc_max_z_delta": 3, "vfc_att_transition_time": 0.5, "vfc_stick_move_threshold": 30, "vfc_flow_transition_time": 1, "vfc_q_min": 10, "vfc_points_min": 7, "vfc_en_submode_announcement": 1, "vfc_disable_fallback": false, "vfc_traj_csv": "/data/voxl-vision-hub/traj.csv", "en_voa": true, "voa_upper_bound_m": -0.15000000596046448, "voa_lower_bound_m": 0.15000000596046448, "voa_voa_memory_s": 1, "voa_max_pc_per_fusion": 100, "voa_pie_max_dist_m": 20, "voa_pie_min_dist_m": 0.25, "voa_pie_under_trim_m": 1, "voa_pie_threshold": 3, "voa_send_rate_hz": 20, "voa_pie_slices": 36, "voa_pie_bin_depth_m": 0.15000000596046448, "voa_inputs": [{ "enabled": true, "type": "point_cloud", "input_pipe": "dfs_point_cloud", "frame": "stereo_l", "max_depth": 8, "min_depth": 0.300000011920929, "cell_size": 0.079999998211860657, "threshold": 4, "x_fov_deg": 68, "y_fov_deg": 56, "conf_cutoff": 0 }, { "enabled": true, "type": "point_cloud", "input_pipe": "stereo_front_pc", "frame": "stereo_front_l", "max_depth": 8, "min_depth": 0.300000011920929, "cell_size": 0.079999998211860657, "threshold": 4, "x_fov_deg": 68, "y_fov_deg": 56, "conf_cutoff": 0 }, { "enabled": true, "type": "point_cloud", "input_pipe": "stereo_rear_pc", "frame": "stereo_rear_l", "max_depth": 8, "min_depth": 0.300000011920929, "cell_size": 0.079999998211860657, "threshold": 4, "x_fov_deg": 68, "y_fov_deg": 56, "conf_cutoff": 0 }, { "enabled": true, "type": "tof", "input_pipe": "tof", "frame": "tof", "max_depth": 6, "min_depth": 0.15000000596046448, "cell_size": 0.079999998211860657, "threshold": 3, "x_fov_deg": 106.5, "y_fov_deg": 85.0999984741211, "conf_cutoff": 125 }, { "enabled": true, "type": "rangefinder", "input_pipe": "rangefinders", "frame": "body", "max_depth": 8, "min_depth": 0.300000011920929, "cell_size": 0.079999998211860657, "threshold": 4, "x_fov_deg": 68, "y_fov_deg": 56, "conf_cutoff": 0 }] } In /etc/modalai/voxl-mavlink-server.conf, changed en_external_ap_timesync to 0 { "primary_static_gcs_ip": "192.168.8.10", "secondary_static_gcs_ip": "192.168.8.11", "onboard_port_to_autopilot": 14556, "onboard_port_from_autopilot": 14557, "gcs_port_to_autopilot": 14558, "gcs_port_from_autopilot": 14559, "en_external_uart_ap": false, "autopilot_uart_bus": 1, "autopilot_uart_baudrate": 921600, "autopilot_mission_delay_start": -1, "autopilot_mission_delay_sound": false, "autopilot_mission_notif_dur": 0.1, "en_external_ap_timesync": 0, "en_external_ap_heartbeat": 1, "udp_mtu": 0, "gcs_timeout_s": 4.5 } In vrpn launch file, remapped vrpn_client_node to mavros/vision_pose/pose with 30Hz update frequency Disabled QVIO and ovins Changed PX4 params: EKF2_EV_CTRL to 11, EKF2_EV_QMIN to 0 voxl2:/$ px4-param show ekf2_ev* Symbols: x = used, + = saved, * = unsaved x EKF2_EVA_NOISE [292,568] : 0.1000 x EKF2_EVP_GATE [293,569] : 5.0000 x EKF2_EVP_NOISE [294,570] : 0.1000 x EKF2_EVV_GATE [295,571] : 3.0000 x EKF2_EVV_NOISE [296,572] : 0.1000 x + EKF2_EV_CTRL [297,573] : 11 x EKF2_EV_DELAY [298,574] : 0.0000 x EKF2_EV_HGT_TO [299,575] : 5000 x EKF2_EV_NOISE_MD [300,576] : 0 x EKF2_EV_POS_TO [301,577] : 1000 x EKF2_EV_POS_X [302,578] : 0.0000 x EKF2_EV_POS_Y [303,579] : 0.0000 x EKF2_EV_POS_Z [304,580] : 0.0000 x EKF2_EV_QMIN [305,581] : 0 829/2162 parameters used. Launched mavros with ModalAI's mavros launch script

Hi @Alex-Kushleyev
Some of the videos and photos taken with the IMX412 I have on hand were blurry due to vibration.
I tried various things but couldn’t resolve the issue—however, it was resolved after I replaced the lens with a different one.
Would it be possible to include a replacement lens with my current order?
Also, I have a few units in stock, and I’m concerned there might be similar issues with them.

@Alex-Kushleyev thanks, I have the M0157 adapter installed on my Starling 2.

@Evan-Hertafeld said in Using MPA within voxl-docker-mavsdk-cpp:

libmodal_pipe

@Evan-Hertafeld @Jetson-Nano

You need to share all those files via a volume mount alongside with the /run/mpa directory to allow docker to probe the data and grab from an MPA pipe.

so in your docker run something like -v /usr/include/modal_start_stop.h:/usr/include/modal_start_stop.h needs to be done - the other option is you just download the actual MPA debian inside your docker image and call it a day - then you will have all the necessary headers, libs, binaries, and you just need to share /run/mpa as a volume to access the data.

Zach

@Jetson-Nano you could just use the CPP mavsdk instance to grab the TOF data from a MPA pipe and then leverage that to do your controls via mavsdk (I am assuming just offboard movement). You can connect over port 14551 just ensure you have localhost comms set to true in voxl-vision-hub.

So this wouldn't be a scenario where the GPS is failing entirely, potentially making it in violation of FAA Remote ID, but would just be a weaker signal?

@Alex-Kushleyev, with the smaller number of cameras I can connect to the VOXL2, I’d like to increase the field of view of each AR0144 to maximize coverage. From my research, I understand the AR0144 sensor modules use a 1/4" optical format and are compatible with M12 lenses. Can you confirm if that’s correct?

Also, how well do the AR0144-based camera modules (like the M0166) perform with large field-of-view M12 fisheye lenses (e.g., >190°)? Are there any known issues with image quality, distortion correction, or sensor limitations when using those types of lenses?

@Hector-Gutierrez
Update from my previous post. I install the TOF connector in the centered location and fully attach the screws (including the one that secures the TOF ribbon cable). There is no short, the drone start normally, and I get 4 cameras on VOXL portal, but no TOF. Also voxl-camera-server -l only see 4 cameras. So TOF connection is definitely Ok, but sensor not present.

@yardy In order to update the kernel variant without re-installing the whole SDK, please follow these instructions:

cd <voxl-sdk-release>/system-image # reboot voxl2 into fastboot mode adb reboot bootloader # flash VOXL2 kernel variant 0 fastboot flash boot_a m0054-1-var00.0-kernel.img fastboot flash boot_b m0054-1-var00.0-kernel.img fastboot reboot # OR flash VOXL2 kernel variant 1 fastboot flash boot_a m0054-1-var00.1-kernel.img fastboot flash boot_b m0054-1-var00.1-kernel.img fastboot reboot

You can also test the kernel without overwriting it (the original kernel will be retained after voxl2 reboot:

adb reboot bootloader fastboot boot m0054-1-var00.0-kernel.img # OR fastboot boot m0054-1-var00.1-kernel.img

The latter method is useful when you are not sure if the kernel you are about to try actually works (when you are experimenting with building your own kernel) - you can try the new kernel without the risk of temporarily bricking your board.

Alex