https://docs.modalai.com/mavros/

I changed the parameters in the /etc/modalai/voxl-vision-px4.conf file to include:

"en_localhost_mavlink_udp":	true,

I am able to communicate with the Docker image and can publish and subscribe to messages from it. I do see all the mavros topics, from inside the docker container, on the "native" VOXL shell, and from my remote computer connected over WiFi or via our MicroHard radio. However, the /mavros/state message indicates that there is no connection. rostopic echo /mavros/state gives only one message:

header:
  seq: 0
  stamp:
    secs: 2228
    nsecs: 862914984
  frame_id: ''
connected: False
armed: False
guided: False
manual_input: False
mode: ''
system_status: 0
---

The last messages on running ./run_mavros.sh from inside the Docker container are:

...
...
[ INFO] [732.234354982]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [732.234448888]: MAVROS started. MY ID 1.240, TARGET ID 1.1

I also found this article about the MAVlink SDK and how to setup local communication:

https://gitlab.com/voxl-public/voxl-docker-images/voxl-docker-mavsdk-python

Given the version of the VOXL software on the system, it seems that we need this in /etc/modalai/voxl-vision-px4.conf instead of the above option:

"en_secondary_qgc": true,
"secondary_qgc_ip": "127.0.0.1",

However, that did not work either. I get the same type message from rostopic echo-ing /mavros/state.

I am able to plug into the FCU via USB and run mavros, by specifying the correct serial port on launch.

The output of voxl-version for my current setup is:

--------------------------------------------------------------------------------
system-image:    ModalAI 2.2.0 BUILDER: ekatzfey BUILD_TIME: 2020-01-28_23:54
kernel:          #1 SMP PREEMPT Tue Jan 28 23:55:02 UTC 2020 3.18.71-perf
factory-bundle:  0.0.5
sw-bundle:       0.0.5
--------------------------------------------------------------------------------
architecture:    aarch64
processor:       apq8096
os:              GNU/Linux
--------------------------------------------------------------------------------
voxl-utils:
Package: voxl-utils
Version: 0.4.6
Status: install user installed
Architecture: aarch64
Installed-Time: 246

--------------------------------------------------------------------------------

Any help or direction on what to check next is greatly appreciated.