# VOXL 2 Unable to connect to QGC after VOXL SDK Update

Source: https://forum.modalai.com/topic/2582/voxl-2-unable-to-connect-to-qgc-after-voxl-sdk-update
Category: General Questions (https://forum.modalai.com/category/2/general-questions)
Posted: 2023-08-21 14:51:50 UTC by SMRazaRizvi
Replies: 0 · Views: 170

## SMRazaRizvi · 2023-08-21 14:51:50 UTC

I am running voxl-suite version 1.0.0 on the Sentinel drone, hw version M0054.

I recently updated the voxl-suite version, and after that, I am unable to connect to the QGC.

Insights:

1. Both the Sentinel drone and the QGC are on the same network.
`QGC IP: 192.168.0.178`
`Sentinel drone IP: 192.168.0.196` 

2. voxl-vision-hub.conf

```
{
	"config_file_version":	1,
	"en_localhost_mavlink_udp":	true,
	"localhost_udp_port_number":	14551,
	"en_vio":	true,
	"vio_pipe":	"qvio",
	"secondary_vio_pipe":	"mvio",
	"en_reset_vio_if_initialized_inverted":	true,
	"vio_warmup_s":	3,
	"send_odom_while_failed":	false,
	"horizon_cal_tolerance":	0.5,
	"offboard_mode":	"figure_eight",
	"follow_tag_id":	0,
	"figure_eight_move_home":	true,
	"robot_radius":	0.300000011920929,
	"collision_sampling_dt":	0.1,
	"max_lookahead_distance":	1,
	"en_tag_fixed_frame":	false,
	"fixed_frame_filter_len":	5,
	"en_transform_mavlink_pos_setpoints_from_fixed_frame":	false,
	"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
		}]
}
```

3. voxl-mavlink-server.conf
```
{
	"primary_static_gcs_ip":	"192.168.0.178",
	"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":	true,
	"autopilot_uart_bus":	1,
	"autopilot_uart_baudrate":	921600,
	"en_external_ap_timesync":	1,
	"en_external_ap_heartbeat":	1,
	"udp_mtu":	0,
	"gcs_timeout_s":	4.5
}
```

4. voxl-inspect-services

```
 Service Name          |  Enabled  |   Running   |  CPU Usage
----------------------------------------------------------------
 docker-autorun        | Disabled  | Not Running |  
 docker-daemon         | Disabled  | Not Running |  
 modallink-relink      | Disabled  | Not Running |  
 voxl-camera-server    |  Enabled  |   Running   |   106.0%
 voxl-cpu-monitor      |  Enabled  |   Running   |     0.5%
 voxl-dfs-server       | Disabled  | Not Running |  
 voxl-feature-tracker  | Disabled  | Not Running |  
 voxl-flow-server      | Disabled  | Not Running |  
 voxl-imu-server       |  Enabled  |   Running   |     5.1%
 voxl-lepton-server    | Disabled  | Not Running |  
 voxl-mavcam-manager   |  Enabled  |   Running   |     0.0%
 voxl-mavlink-server   |  Enabled  |   Running   |     0.6%
 voxl-modem            | Disabled  | Not Running |  
 voxl-portal           |  Enabled  |   Running   |    93.6%
 voxl-px4-imu-server   | Disabled  | Not Running |  
 voxl-px4              |  Enabled  | Not Running |  
 voxl-qvio-server      |  Enabled  |   Running   |    26.0%
 voxl-remote-id        | Disabled  | Not Running |  
 voxl-softap           | Disabled  | Not Running |  
 voxl-static-ip        | Disabled  | Not Running |  
 voxl-streamer         |  Enabled  |   Running   |     0.0%
 voxl-tag-detector     | Disabled  | Not Running |  
 voxl-tflite-server    | Disabled  | Not Running |  
 voxl-time-sync        | Disabled  | Not Running |  
 voxl-uvc-server       | Disabled  | Not Running |  
 voxl-vision-hub       |  Enabled  |   Running   |     1.0%
 voxl-wait-for-fs      |  Enabled  |  Completed  |  
```

5. Auto connect enabled inside QGC
![ce2b0b55-a54b-4bee-8f83-d0506ecab9cb-image.png](https://forum.modalai.com/assets/uploads/files/1692629448501-ce2b0b55-a54b-4bee-8f83-d0506ecab9cb-image.png) 

Please help.