# How can I connect voxl and Cubepilot?

Source: https://forum.modalai.com/topic/315/how-can-i-connect-voxl-and-cubepilot
Category: Flight Core and Legacy VOXL (https://forum.modalai.com/category/9/flight-core-and-legacy-voxl)
Tags: voxl
Posted: 2021-07-05 02:23:29 UTC by Kglee
Replies: 5 · Views: 1301

## Kglee · 2021-07-05 02:23:29 UTC

I'd like to connect voxl and CubePilot. But I can't get the uart messages.

The environment is as follows.

![94329173-fb55-4d9a-953e-89f44455389c-image.png](https://forum.modalai.com/assets/uploads/files/1625451063502-94329173-fb55-4d9a-953e-89f44455389c-image.png) 

If I run voxl-vision-px4 -f , a warning message is displayed.
(**WARNING PX4 DISCONNECTED FROM UART**)
```
/ # voxl-vision-px4 -f
Enabling UDP recv debugging
loading our own config file
Created new json file: /etc/modalai/voxl-vision-px4.conf
=================================================================
Parameters as loaded from config file:
qgc_ip:                     192.168.8.60
en_localhost_mavlink_udp    1
en_secondary_qgc:           0
secondary_qgc_ip:           192.168.1.214
qgc_udp_port_number:        14550
localhost_udp_port_number:  14551
udp_mtu:                    512
en_vio:                     1
en_voa:                     0
en_send_vio_to_qgc:         0
en_send_voa_to_qgc:         0
en_set_clock_from_gps:      1
en_force_onboard_mav1_mode: 1
en_reset_px4_on_error:      1
qvio_auto_reset_quality:    0.000500
en_adsb:                    0
adsb_uart_bus:              7
adsb_uart_baudrate:         57600
px4_uart_bus:               5
px4_uart_baudrate:          921600
offboard_mode:              figure_eight
follow_tag_id:              0
en_tag_fixed_frame:         0
fixed_frame_filter_len:     5
en_transform_mavlink_pos_setpoints_from_fixed_frame:0
=================================================================
loading extrinsics config file
Created new empty json file: /etc/modalai/extrinsics.conf
adding default extrinsics for imu1 to imu0
adding default extrinsics for imu0 to tracking
adding default extrinsics for imu1 to tracking
adding default extrinsics for body to imu0
adding default extrinsics for body to imu1
adding default extrinsics for body to stereo_l
adding default extrinsics for body to tof
adding default extrinsics for body to ground
The JSON apriltag data was modified during parsing, saving the changes to disk
starting geometry module
starting px4 monitor
starting uart mavlink
Successfully opened mavparser
starting udp mavlink
Adding manual QGC IP address to udp connection list: 192.168.8.60
Added new UDP connection to 192.168.8.60
starting px4 shell
starting fixed pose input
starting vio manager
starting tag manager
starting offboard figure eight
Init complete, entering main loop
WARNING PX4 DISCONNECTED FROM UART
```

And If I run voxl-test-mavparser ,
```
/ # voxl-test-mavparser
allocating RPC shared memory
no messages available
no messages available
no messages available
no messages available
no messages available
no messages available
no messages available
no messages available
no messages available
no messages available
no messages available
no messages available
no messages available
no messages available
no messages available
no messages available
no messages available
no messages available
no messages available
no messages available
no messages available
^Creceived signal 2
joining read thread
no messages available
exiting cleanly
/ #
```

Please let me know what I did wrong.

The UART message was confirmed in the telemetry port of Cubepilot.

Version
```
--------------------------------------------------------------------------------
system-image:    ModalAI 3.3.0 BUILDER: ekatzfey BUILD_TIME: 2021-06-06_19:28
kernel:          #1 SMP PREEMPT Sun Jun 6 19:41:01 UTC 2021 3.18.71-perf
factory-bundle:  1.0.1 (Yocto installation)
--------------------------------------------------------------------------------
architecture:    aarch64
processor:       apq8096
os:              GNU/Linux
--------------------------------------------------------------------------------
voxl-suite:
Package: voxl-suite
Version: 0.4.6

libvoxl_cutils - 0.0.2
libvoxl_io - 0.5.4
voxl-camera-server - 0.7.1
voxl-cpu-monitor - 0.1.7
voxl-dfs-server - 0.2.0
voxl-docker-support - 1.1.3
voxl-gphoto2 - 0.0.5
voxl-imu-server - 0.8.1
voxl-mavlink - 0.0.2
voxl-modem - 0.12.0
voxl-mpa-tools - 0.2.6
voxl-nodes - 0.1.6
voxl-qvio-server - 0.3.1
voxl-streamer - 0.2.3
voxl-suite - 0.4.6
voxl-tag-detector - 0.0.2
voxl-tflite - 0.0.1
voxl-tflite-server - 0.1.0
voxl-utils - 0.7.1
voxl-vision-px4 - 0.9.2
voxl-vpn - 0.0.3
```

## Reply by modaltb (ModalAI staff) · 2021-07-06 15:59:28 UTC

@Kglee ,

What baud rate have you setup the TELEM port via PX4?  By default, voxl-vision-px4 wants 921600 and MAVLINK "onboard mode" (102):

https://gitlab.com/voxl-public/flight-core-px4/px4-parameters/-/blob/master/helpers/mavlink_serial_ports.params#L22

Otherwise, voxl-vision-px4 might timeout as it's not getting data at the expected rate.

Do you have an oscilloscope or no?

## Reply by Kglee · 2021-07-07 02:59:08 UTC (in reply to modaltb)

@modaltb  Thanks for your answer. I solved this problem. 
But the baudrate 921600 seems hard for CubePilot. So I set both to 115200. And Uart message is ok.
In this case, is there a problem with voxl flight? ex) VIO

## Reply by modaltb (ModalAI staff) · 2021-07-07 16:14:11 UTC

VIO requires the tracking camera to function.  I see a VOXL in your picture without any cameras, are you using a different setup than the picture?

## Reply by Kglee · 2021-07-08 02:13:05 UTC (in reply to modaltb)

@modaltb No, I have not a different setup. I'm just wondering if that speed(115200) is too slow for voxl to control. Because the default setting of the voxl(core) is 921600.

Thanks.

## Reply by modaltb (ModalAI staff) · 2021-07-08 16:02:14 UTC

Although a majority of our testing is at the higher baud, we've used lower without problems, so it should be fine.