ModalAI Forum

@bschulzhf PX4 will only correct incoming messages. Something external will have to also run TIMESYNC with PX4 to estimate the offset and correct and incoming PX4 message timestamps that it wants to align. voxl-mavlink-server does this for a few messages.

@LukeNow This worked, thanks.

@jon You can use a J19 UART from the apps processor. Take a look at the code in voxl-elrs (https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-elrs/-/tree/dev?ref_type=heads), specifically the file src/elrs_slpi.c. This project accesses SLPI UARTs from an AP userspace process through voxl_io, not through POSIX termios. You cannot have a flight controller running at the same time though so PX4 / ArduPilot / etc. would need to be stopped first.

@jon When running that way make sure you wait a few seconds before restarting. If you ctrl-c out of voxl-px4 and immediately restart voxl-px4 you will see that error condition.

@Ben-Linne : Thanks for the excellent instructions. Worked perfectly first shot. betaFPV is back to normal and binds to the radio controller ! Best regards, Hector

@Michael-Hatton Did you run through the voxl-configure-modem setup in order to configure APN, etc? https://docs.modalai.com/voxl-modem/#usage

@Michael-Hatton Yes, you need to have a separate battery charger. I'll see if I can get a recommendation from the team on a good charger to use. I use a Hota D6 Pro, personally.

@jameskuesel , I think there is another option which i have not considered before. The first three cameras are the same as above: : M0173 J1: AR0144 slot 0 : CCI0 : M0173 J2: AR0144 slot 6 : CCI1 : M0173 J5: AR0144 slot 2 : CCI2 Then if we use J8U (which can be done using M0181 - it allows you to connect a Boson sensor to lower slot, and a tracking / hires camera to upper slot). Then the fourth camera would be: VOXL2 J8: M0181 Upper : AR0144 slot 5 : CCI3 And there are no CCI conflicts. One issue is that we don't typically sell M0181 by itself (only in a kit). Instead you could use two other options, both of which allow connecting a tracking / hires camera to the upper slot: M0194 : https://www.modalai.com/products/m0194/ M0172: https://docs.modalai.com/M0172/ / https://www.modalai.com/products/mdk-m0172-1-00 The only down side of using M0172 / M0194 instead of M0181 is that the two alternatives do not have a mounting hole that would align with VOXL2 mounting hole, but M0181 does have a tab with a mounting hole for VOXL2 J8, see below. The M0172 and M0194 were really designed as mainly options for VOXL2 mini. [image: 1780458131518-98d5f0ec-7f07-44bf-b002-036aefd3921d-image.png] [image: 1780458149322-c9c77086-b5fc-4215-99a2-fdc310d6f18c-image.png]

@jbiscan21 said in Standoffs part: standoffs You can find them here: https://www.modalai.com/products/starling-2-max-replacement-parts?variant=66893548028208

@Alex-Kushleyev Aha yes that was my original understanding. Yes knew you'd need a zoom level for it to actually look good/work effectively. Would probably have a lower bound of 1.2-1.3 likely from what I experimented with. TBD on dimensions. Sorry, was confused, sounds good!

@awagner , I believe on VOXL2 Mini should be able to support any 4 cameras on the J6L, J6U, J7L, J7U (specifically the AR0144 (M0149) and IMX412 (M0107), which I assume you are using) Can you please clarify the error that you are seeing? Is the issue the lack of correct sensormodule or something else? (you can check if correct sensormodules are present in /usr/lib/camera after configuring the cameras). As a reminder, the J6L, maps to slot 0, J6U, slot 1, J7L slot 2 and J7U slot 3. Are you able to connect the 2 AR0144 cameras to J6 and J7? What is your goal - how many of each cameras do you need to use? We can test it. Alex

@qubotics-admin , thanks for doing the motor swap test. From this result, it does appear that one of the ESC channels is not working properly. We would like to take a look at the ESC - are you able to send it back for inspection? We can send you a replacement ESC in return. Alex

@wilkinsaf You can disable compass with SYS_HAS_MAG = 0 and EKF2_MAG_TYPE = 5. But if you enable it and it isn't healthy you won't be able to arm. Power compensation may work, it depends on your particular drone model and use case.

@Barry-Hammond https://docs.modalai.com/voxl-streamer/#how-to-stream-video-with-rtsp-on-voxl Quality greatly depends on your LTE coverage and VPN performance. I recommend lowering the bitrate in /etc/modalai/voxl-streamer.conf until you're happy with the response rate. Tailscale can add overhead as well and our recent LTE testing has involved hosting a custom WireGuard server.

Good tip. For anyone testing without the GPS module attached, setting SYS_HAS_MAG=0 and EKF2_MAG_TYPE=5 seems to be the key part since the compass is on the GPS board. I was also looking at some compass-related references on 123compass.org while trying to understand the magnetometer side of it.

@JB1 Our voxl-remote-id software with WiFi dongle is intended only for reference and is not meant to be a commercially ready system for our customers who need a remote id solution for their VOXL2 based drone products. Integration, testing, validation, and FAA registration with desired hardware is up to the end user. At a minimum the manufacturer id would need to be changed from ModalAI's id to your companies issued manufacturer id.

@jon And you can find a lot of detailed information about the agent, including the start options, here: https://docs.px4.io/main/en/middleware/uxrce_dds

@Michael-Hatton When you arm the drone it is in flight mode and the motors start to spin. It's that spinning of the motors that you don't want while plugged into a power supply. Only use your battery to actually spin the motors and fly.