Hi @wetherbeej
Oh yikes..
You should really work with us on that change. There is a high likelihood to damage your VOXL 2 and the MEMs sensors are likely all broken now from the extra reflow cycles.

Flash provisioning is all done over QFIL tools, not PCAT.

@Andrew-Jong , we are able to reproduce the error that you are seeing. I believe that you may need to set up a virtual display in order to get this to work. You could try doing so using Weston compositor, which would normally run if the display was available. Please try it and let us know if you are able to get it to work (or not).

You would need to create a config file /etc/xdg/weston/weston.ini

and try running it manually like this :

weston --idle-time=0 --config=/etc/xdg/weston/weston.ini

a sample config file might look something like this:

# configuration file for Weston [core] idle-time=0 repaint-window=15 [output] name=virtual-1 mode=on

We have not tested this yet, but hopefully it's a good start.

Alex

@Catalystmachine

https://www.modalai.com/products/m0155
https://www.modalai.com/products/m0188 (fixed link)
https://www.modalai.com/products/m0194

If you need M0195, you can contact us directly for a custom order (it's not in the shop yet).

https://modalai.com/contact

Alex

@yashpatel ,

Please see some responses below:

i2c_geni a84000.i2c / 884000.i2c: i2c error :-107

This is likely due to a service that is enabled for a sensor that's not present, so the service is restarting and trying to detect the sensor.

please make sure the voxl-rangefinder-server is not running and also voxl-lepton-server. you can disable the service using systemd : systemctl disable voxl-rangefinder-server. CAM_ERR: CAM-SENSOR: cam_cci_i2c_read: 35 rc = -22

this one is usually present when you have a sensormodule driver in /usr/lib/camera for a camera that is not actually plugged in, so the probe fails. Double check the cameras that you have plugged in vs sensormodules peresent in the directory above. However, this is usually harmless, if all of your cameras are working properly.

Pin conflict.. We will double check that, but GPIO 130 is on a Board to Board connector that you are most likely not using, so that should not be an issue.

VIO performance..

please review : https://docs.modalai.com/flying-with-vio/ try to identify the condition that caused the low feature count (look at the actual images, if possible). may need some hand-held testing and looking at the output.

Please let us know if you have any other questions.

Alex

@Dan-Jennings , M0181 can be used to enable a Boson and another hires or tracking camera (or Hadron combo), see diagram below. You would need to use the kernal variant 1.0.1 (same one used for M0173, which I am assuming you are already using).

So basically, you can use any standard config C26-C29 + two more cameras connected to VOXL2 J8. Please note that VOXL2 J8 shares CCI (i2c) buses with J6 and J7, so you have to be a little careful about what cameras you connect to J8 to avoid i2c address conflicts. I am going to put together some more information on that soon. But if you are adding a Hadron or Boson + IMX412 to J8, there will be no conflict.

Please let us know if you have any other questions.

Alex

voxl2_m0181_boson_hires.png

Hi @DavidTorres,

Thanks a lot for the detailed explanation — this is very helpful.

Your comments about VIO drift, autonomy limitations, and the development effort required give us a much clearer picture.

We’ll review the documentation and PX4 resources as suggested.

Thanks again for taking the time to share your experience.

Best regards

@Nitin-Varma-Vegesna said in Apriltag relocalization not relocalizing?:

@Nitin-Varma-Vegesna Is there any release that is known to work for April Tag Detection?

https://gitlab.com/voxl-public/voxl-sdk/services/voxl-tag-detector

The dev branch is the most recent - I have to check with the engineering team on this as I am unsure the priority of april tag detection and positioning based off it. Will relay back

@Eric-Katzfey
────────────────────────────────────────────────────────────────────────────────
system-image: 1.8.02-M0054-14.1a-perf
kernel: #1 SMP PREEMPT Mon Nov 11 22:47:44 UTC 2024 4.19.125
────────────────────────────────────────────────────────────────────────────────
hw platform: M0054
mach.var: 1.0.1
SKU: MRB-D0014-4-V1-C27-T9-M22-X0
────────────────────────────────────────────────────────────────────────────────
voxl-suite: 1.4.5
────────────────────────────────────────────────────────────────────────────────
Packages:

I am getting this issue as well, where I constantly get WARNING, apriltag roll/pitch out of bounds issue with the front or down tracking camera.

@Alex-Kushleyev I made the following changes.

Modified the DTS files as stated prior. Flashed the devcfg.mbn file from SDK 1.0.0 I did not need to configure the level shifter actually. The port worked in SPI mode even without running voxl-gpio -w 67 1. Running the command doesn't seem to change anything.

I used Channel 1 on /dev/i2c-0 for the second lepton. I simply wrote TCA9543A_CHANNEL_1_ENABLE to TCA9543A_CONTROL_REGISTER in voxl-lepton-server. I pretty much followed what was described here.

@Alex-Kushleyev sure thing. As per your suggestion, I modified voxl-lepton-server by moving all the Lepton camera-specific logic into a C++ class and added locks to any I2C operations to prevent race conditions. I then just created 2 instances of the LeptonCamera class I made which parse and publish the camera feeds to their own pipes which I can view in voxl-portal.

I didn't need to disable any I2C interface for the second Lepton. I'm not too sure what you were referring to by that.

In regards to the horizontal line artifacts, those don't seems to consistently appear and I don't know what causes it. I'll investigate it further.

My next steps are to get the Leptons working with voxl-open-vins-server. One question I had was that our VOXL 2 Mini appears to be running a service called voxl-lepton-tracker however I cannot find the source code for this anywhere on the voxl public GitLab. Was it removed or hidden?

@Moderator thank you so much, I will go through that now.

@Moderator The description to MCBL-00128 (https://docs.modalai.com/cable-datasheets/#mcbl-00128), the TOF for the Voxl 2 Mini says it's supported with M0188 (https://docs.modalai.com/M0189/) without specifying any sub P/N (-1 or -2), even in the documentation of the M0188 doesn't say anything about P/N -1 or -2 (https://docs.modalai.com/M0188/).

@Moderator Order #7559

And, yes I ordered the configuration without the radio? But I wasn't told that it wouldn't include a GPS module?

@Alex-Kushleyev alright, thanks for the help!

Carson—

I'm trying to do the same: create a Kicad symbol for VOXL 2 as a module (ie, no internal details, just interfaces). Have you had any luck in locating something?

Best,

—John

@Cliff-Wong the drone is on SDK 1.5.0, I switched to open vins, and the vio portal reflected the movement, but when i toggled my controller from manual mode to position mode, the drone crashed for the first fight, on the second and third trial the drone kept landing, when i tried the fourth time, the drone finally maintained the height and hovered. Why do I have that unpredictable behavior ? I have attached images of my controller to show the toggling i meant.

Kindly advice.
Thanks. WhatsApp Image 2026-02-13 at 10.53.46 AM.jpeg WhatsApp Image 2026-02-13 at 10.53.46 AM (1).jpeg

@zauberflote1 I am no longer having this issue. I have been flying with OpenVins for some time, and I was sometimes seeing drift in the vio estimate, and I was wondering what are the best configs to use. for vio_cams.conf and voxl-open-vins-server.conf?

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

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