@Muqing-Cao In the voxl-vision-hub configuration file /etc/modalai/voxl-vision-hub.conf how is the parameter en_vio set?

@leandro , documentation for M0187 has been updated to include the 3D CAD file :

https://docs.modalai.com/M0187/#3d-drawings

Alex

@Zachary-Lowell-0 thanks.

@minhthinh Documentation for the original VOXL Flight can be found here. The guide will link back to the original VOXL and the original Flight Core as those are the boards it was built around. You can also refer to the release notes of the previous sdks to see what was available in the specific release that you are using

Hi @rpowerscat ,

You may be looking for these?

https://docs.modalai.com/vtx-air-unit-datasheet/ https://docs.modalai.com/vrx-ground-unit-datasheet/

Will check availability and get back to you..

Alex

Hello @namanthaker,

We typically do not provide the register configurations for the cameras because the camera drivers may contain confidential information from other sources.

However, the IMX664 camera is integrated with VOXL2, which can be used for testing and experimentation.

By the way, the camera drivers for VOXL2 are not contained in kernel modules, but in sensormodule binaries, which are loaded by the camera pipeline (just FYI). I am not aware of any way of extracting the register settings from those binaries.

Alex

Hi @Rowan-Dempster ,

I made a few changes (based on your branches) to libmodal-pipe and the 32-bit tools and now it seems to be working without any run time errors from the test tools or 64bit camera server:

https://gitlab.com/voxl-public/voxl-sdk/core-libs/libmodal-pipe/-/tree/ion-32bit-test
https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-tools/-/tree/ion-32bit-test

The issue in libmodal-pipe was with a struct size difference for 32 / 64 bit systems.

Please note that when you build libmodal pipe, do not deploy the 64bit version to voxl2 as it will break things. Later we will need to fix this up so the struct padding is platform dependent.

voxl-image-repub is working now . I had to disable the FD caching due to a strange issue (segfault) when inserting into std::map. Did not investigate why that happened. Without duplicating the FD (using the original FD in the callback, everything works). Also the 32-bit version of voxl-inspect-ion-stream works as expected.

Feel free to test this out. If you don't find any more issues, we can try to mainline this change after cleanup. I am a bit concerned that std::map insert failed, but it is possible this is because i am using the latest voxl-cross to build the app, but my test board is running on old SDK (and there could have been a c++ runtime libs update sometime in the recent voxl-cross).

Alex

@voxltester That is not a normal option to choose via voxl-px4.conf. You will need to hand modify the startup script /usr/bin/voxl-px4-start to properly start the driver in i2c mode. Use option -b 4 to select that i2c bus.

Hi @Aaky, can you please confirm which ESC you are using for this drone? This thread is related to the mini ESC, and i just want to make sure that you are not using that for the relatively heavy drone.

Alex

@Eric-Katzfey I updated to SDK 1.6.0, which fixed the power display issue. I was still getting no valid local position preflight fail, but after I ran apt update && apt upgrade, things seemed to work.

@Eric-Katzfey This works! Thank you!

@Alex-Kushleyev
Thank you very much for your reply!

We bought the USB C adapter from Flir and followed your guide to enable MIPI. Now it works and I can get the video from the Boson over MIPI.

Thanks for your help!

@remill libusb doesn't use cmake. It uses autogen.sh, configure, make, etc. These are standard Linux build tools. If you enter a query such as "How do I build libusb on Linux?" into Google and check AI mode it will provide you with all the steps.

I did some additional testing and was able to narrow things down a bit. After reconfiguring the WiFi as a SoftAP using voxl-wifi and then rebooting the VOXL, the network now shows up consistently again. So the broadcast issue seems to be resolved for the moment. However, the core problem remains: I still can’t actually connect to the AP — the connection attempt starts, prompts for the password, and then fails just like before.

If anyone has ideas on what else I could check or has seen similar behavior with this setup, I’d really appreciate the help.

@remill
You can also add a FetchContent CMake declaration that will build your library during compilation. Here is an example for yaml-cpp

include(FetchContent) # Fetch yaml-cpp from GitHub FetchContent_Declare( yaml-cpp GIT_REPOSITORY https://github.com/jbeder/yaml-cpp.git GIT_TAG yaml-cpp-0.6.3 ) # Disable yaml-cpp tests set(YAML_CPP_BUILD_TESTS OFF CACHE BOOL "" FORCE) set(YAML_BUILD_SHARED_LIBS ON CACHE BOOL "" FORCE) #cross 4.0 quits the chat if building static FetchContent_MakeAvailable(yaml-cpp) # Confirm target exists if (TARGET yaml-cpp) add_library(yaml-cpp::yaml-cpp ALIAS yaml-cpp) endif() install(FILES ${yaml-cpp_BINARY_DIR}/libyaml-cpp.so ${yaml-cpp_BINARY_DIR}/libyaml-cpp.so.0.6 ${yaml-cpp_BINARY_DIR}/libyaml-cpp.so.0.6.3 DESTINATION ${CMAKE_INSTALL_LIBDIR} )

To clarify, our current platforms are shipped with voxl-open-vins-server as the default VINS solution; however, QVIO is still available (SDK 1.6.2).

@Nitin-Varma-Vegesna If you are just flying in manual or altitude hold modes then those shouldn't be an issue.