Skip to content
  • Categories
  • Recent
  • Tags
  • Popular
  • Users
  • Groups
Collapse
Brand Logo

ModalAI Forum
  1. ModalAI Support Forum
  2. VOXL Accessories
  3. Voxlio board Sbus lagging

Voxlio board Sbus lagging

Scheduled Pinned Locked Moved VOXL Accessories
14 Posts 4 Posters 3.4k Views 2 Watching
  • Oldest to Newest
  • Newest to Oldest
  • Most Votes
Reply
  • Reply as topic
Log in to reply
This topic has been deleted. Only users with topic management privileges can see it.
  • Alex KushleyevA Alex Kushleyev

    @Jeffrey-Mao , I am checking whether we tried Futaba rx (the docs page says it is not supported).

    Meanwhile, I have a Ghost rx which can be configured in SBUS output mode, which has been reported to behave in the way you are describing. I will try it, perhaps there is a common issue related to Ghost and your Jeti receiver. I will try to get back to you today or tomorrow.

    Alex

    Alex KushleyevA Offline
    Alex KushleyevA Offline
    Alex Kushleyev
    ModalAI Team
    wrote on last edited by
    #5

    if you look at voxl-px4 startup log (using journalctl or you can run voxl-px4 in foreground). Please ignore my firmware hash of M0065 (i am using a custom firmware, so it won't match yours, but it should match this one: https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl2-io/-/blob/master/voxl2-io-tools/firmware/modalai_m0065_firmware_v0_2_RC1_f94baad1.bin )

    voxl2:/$ journalctl -u voxl-px4 | grep VOXL2_IO
May 30 17:51:33 m0054 voxl-px4[3932]: ESC=VOXL2_IO_PWM_ESC
May 30 17:51:33 m0054 voxl-px4[3932]: ESC: VOXL2_IO_PWM_ESC
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Driver starting
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_BAUD  : 921600
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_FUNC1 : 0
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_FUNC2 : 0
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_FUNC3 : 0
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_FUNC4 : 0
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_FUNC5 : 0
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_FUNC6 : 0
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_FUNC7 : 0
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_FUNC8 : 0
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_DIS   : 1000
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_MIN   : 1100
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_MAX   : 2000
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_CMIN  : 1050
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_CMAX  : 2000
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO:
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Opening UART device 2, baud rate 921600
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Successfully opened UART device
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Detecting M0065 board...
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO:         VOXL2_IO ID: 0
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO:         Board Type : 35: ModalAi I/O Expander (M0065)
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO:         Unique ID  : 0x4304296039364B560671FF36
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO:         Firmware   : version    2, hash f94baad1*
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO:         Bootloader : verINFO  [qshell] Send cmd: 'voxl2_io start'
May 30 17:51:37 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO:         Reply time : 524us
May 30 17:51:37 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Driver initialization succeeded
May 30 17:51:37 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Detected VOXL2 IO SBUS RC
    Jeffrey MaoJ 1 Reply Last reply
    0
    • Alex KushleyevA Alex Kushleyev

      if you look at voxl-px4 startup log (using journalctl or you can run voxl-px4 in foreground). Please ignore my firmware hash of M0065 (i am using a custom firmware, so it won't match yours, but it should match this one: https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl2-io/-/blob/master/voxl2-io-tools/firmware/modalai_m0065_firmware_v0_2_RC1_f94baad1.bin )

      voxl2:/$ journalctl -u voxl-px4 | grep VOXL2_IO
May 30 17:51:33 m0054 voxl-px4[3932]: ESC=VOXL2_IO_PWM_ESC
May 30 17:51:33 m0054 voxl-px4[3932]: ESC: VOXL2_IO_PWM_ESC
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Driver starting
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_BAUD  : 921600
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_FUNC1 : 0
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_FUNC2 : 0
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_FUNC3 : 0
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_FUNC4 : 0
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_FUNC5 : 0
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_FUNC6 : 0
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_FUNC7 : 0
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_FUNC8 : 0
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_DIS   : 1000
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_MIN   : 1100
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_MAX   : 2000
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_CMIN  : 1050
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Params: VOXL2_IO_CMAX  : 2000
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO:
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Opening UART device 2, baud rate 921600
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Successfully opened UART device
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Detecting M0065 board...
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO:         VOXL2_IO ID: 0
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO:         Board Type : 35: ModalAi I/O Expander (M0065)
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO:         Unique ID  : 0x4304296039364B560671FF36
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO:         Firmware   : version    2, hash f94baad1*
May 30 17:51:36 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO:         Bootloader : verINFO  [qshell] Send cmd: 'voxl2_io start'
May 30 17:51:37 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO:         Reply time : 524us
May 30 17:51:37 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Driver initialization succeeded
May 30 17:51:37 m0054 voxl-px4[3932]: INFO  [muorb] SLPI: VOXL2_IO: Detected VOXL2 IO SBUS RC
      Jeffrey MaoJ Offline
      Jeffrey MaoJ Offline
      Jeffrey Mao
      Contributor
      wrote on last edited by Jeffrey Mao
      #6

      @Alex-Kushleyev We have the current thing

      Attempting to start M0065 SBUS RC driver for original M0065 FW
      INFO [muorb] SLPI: qshell gotten: dsp_sbus start
      INFO [muorb] SLPI: arg0 = 'dsp_sbus'
      INFO [muorb] SLPI: arg1 = 'start'
      INFO [qshell] Send cmd: 'dsp_sbus start'
      ERROR [muorb] SLPI: Failed to execute command: dsp_sbus start
      Starting M0065 SBUS RC driver for original M0065 FW failed
      Attempting to start M0065 SBUS RC driver for new M0065 FW
      INFO [qshell] Send cmd: 'voxl2_io start -d -p 7'
      INFO [muorb] SLPI: Ok executing command: voxl2_io start -d -p 7

      We will try updating the firmware and let you know how ti goes based on what you say

      Alex KushleyevA 1 Reply Last reply
      0
      • Jeffrey MaoJ Jeffrey Mao

        @Alex-Kushleyev We have the current thing

        Attempting to start M0065 SBUS RC driver for original M0065 FW
        INFO [muorb] SLPI: qshell gotten: dsp_sbus start
        INFO [muorb] SLPI: arg0 = 'dsp_sbus'
        INFO [muorb] SLPI: arg1 = 'start'
        INFO [qshell] Send cmd: 'dsp_sbus start'
        ERROR [muorb] SLPI: Failed to execute command: dsp_sbus start
        Starting M0065 SBUS RC driver for original M0065 FW failed
        Attempting to start M0065 SBUS RC driver for new M0065 FW
        INFO [qshell] Send cmd: 'voxl2_io start -d -p 7'
        INFO [muorb] SLPI: Ok executing command: voxl2_io start -d -p 7

        We will try updating the firmware and let you know how ti goes based on what you say

        Alex KushleyevA Offline
        Alex KushleyevA Offline
        Alex Kushleyev
        ModalAI Team
        wrote on last edited by Alex Kushleyev
        #7

        @Jeffrey-Mao , which version of px4 are you using?

        BTW, i figured out the issue. When VOXL2_IO is not used for motor outputs (VOXL2_IO_FUNCx are all set to zero), the module updates at a very low rate (every 200-300ms) because the schedule thinks the mixer module is unused. This causes the data from M0065 board coming into VOXL2 (and voxl2_io driver) to be dropped and delayed.

        I am looking at a temporary workaround for this and a fix. As a workaround, setting param set VOXL2_IO_FUNC8 108 makes the module update at full rate (800hz) but i need to check to see what happens if you have a quad and what happens to motor 8 in that case.

        What are you using as motor outputs? voxl esc or also planning to use voxl2_io ?

        Meanwhile, please update the PX4 from sdk 1.3.0 , and you will also need to update M0065 firmware. Old M0065 firmware (V1) and old voxl2_io driver had some issues.

        • https://docs.modalai.com/voxl2-io-user-guide/#voxl-px4-configuration
        • https://docs.modalai.com/voxl2-io-firmware/
        Alex KushleyevA 1 Reply Last reply
        0
        • Alex KushleyevA Alex Kushleyev

          @Jeffrey-Mao , which version of px4 are you using?

          BTW, i figured out the issue. When VOXL2_IO is not used for motor outputs (VOXL2_IO_FUNCx are all set to zero), the module updates at a very low rate (every 200-300ms) because the schedule thinks the mixer module is unused. This causes the data from M0065 board coming into VOXL2 (and voxl2_io driver) to be dropped and delayed.

          I am looking at a temporary workaround for this and a fix. As a workaround, setting param set VOXL2_IO_FUNC8 108 makes the module update at full rate (800hz) but i need to check to see what happens if you have a quad and what happens to motor 8 in that case.

          What are you using as motor outputs? voxl esc or also planning to use voxl2_io ?

          Meanwhile, please update the PX4 from sdk 1.3.0 , and you will also need to update M0065 firmware. Old M0065 firmware (V1) and old voxl2_io driver had some issues.

          • https://docs.modalai.com/voxl2-io-user-guide/#voxl-px4-configuration
          • https://docs.modalai.com/voxl2-io-firmware/
          Alex KushleyevA Offline
          Alex KushleyevA Offline
          Alex Kushleyev
          ModalAI Team
          wrote on last edited by Alex Kushleyev
          #8

          OK, it seems the workaround (not affecting motor output) is to set any of the VOXL2_IO_FUNCx to values 402-422, which forces the module to update at 250hz, which is enough to solve this issue without changing code. Note that this will output the value of the function to VOXL2_IO board, but if you don't have anything connected to the corresponding pwm output, it should be fine (i suggest doing something like this param set VOXL2_IO_FUNC8 408 since PWM channel 8 is rarely used anyway.

          You could try doing the same with your old M0065 firmware (which only supports 4 channels, however), so you would set param set VOXL2_IO_FUNC4 408 . However, i strongly recommend using the latest M0065 firmware and modal2_io drivers. see changelog: https://docs.modalai.com/voxl2-io-firmware/#voxl-sdk-12x-wip

          1 Reply Last reply
          0
          • Jeffrey MaoJ Offline
            Jeffrey MaoJ Offline
            Jeffrey Mao
            Contributor
            wrote on last edited by
            #9

            Oh glad to hear something from your end.

            Currently we are using VoxlESC and the Px4 from SDK 1.1.1. Recently I flashed the board but the remote control is no longer detected. Also how do we set the parameter of the voxl2_io_func8 is this in the start up /usr/bin/voxl-px4-start?

            Thanks again for the help,

            Jeff

            Alex KushleyevA 1 Reply Last reply
            0
            • Jeffrey MaoJ Jeffrey Mao

              Oh glad to hear something from your end.

              Currently we are using VoxlESC and the Px4 from SDK 1.1.1. Recently I flashed the board but the remote control is no longer detected. Also how do we set the parameter of the voxl2_io_func8 is this in the start up /usr/bin/voxl-px4-start?

              Thanks again for the help,

              Jeff

              Alex KushleyevA Offline
              Alex KushleyevA Offline
              Alex Kushleyev
              ModalAI Team
              wrote on last edited by
              #10

              @Jeffrey-Mao , you can use QGC to update the param or from voxl2, “px4-qshell param set VOXL2_IO_FUNC8 …..” . This is standard px4 param setting.

              Rishabh VermaR Jeffrey MaoJ 2 Replies Last reply
              0
              • Alex KushleyevA Alex Kushleyev

                @Jeffrey-Mao , you can use QGC to update the param or from voxl2, “px4-qshell param set VOXL2_IO_FUNC8 …..” . This is standard px4 param setting.

                Rishabh VermaR Offline
                Rishabh VermaR Offline
                Rishabh Verma
                wrote on last edited by
                #11

                @Alex-Kushleyev
                Hey Alex, I am working with Jeffrey. I can't seem to find the VOXL2_IO_FUNCx parameters. Is it on the VOXL2_IO board or the VOXL2 main board? Because while running px4 on foreground this was not listed and its not listed even at QGC

                1 Reply Last reply
                0
                • Alex KushleyevA Alex Kushleyev

                  @Jeffrey-Mao , you can use QGC to update the param or from voxl2, “px4-qshell param set VOXL2_IO_FUNC8 …..” . This is standard px4 param setting.

                  Jeffrey MaoJ Offline
                  Jeffrey MaoJ Offline
                  Jeffrey Mao
                  Contributor
                  wrote on last edited by
                  #12

                  @Alex-Kushleyev hi Alex thank you so much for the help. We figured it out after updating some of the firmware. It flies much smoother with the jeti RC now

                  Alex KushleyevA 1 Reply Last reply
                  0
                  • Jeffrey MaoJ Jeffrey Mao

                    @Alex-Kushleyev hi Alex thank you so much for the help. We figured it out after updating some of the firmware. It flies much smoother with the jeti RC now

                    Alex KushleyevA Offline
                    Alex KushleyevA Offline
                    Alex Kushleyev
                    ModalAI Team
                    wrote on last edited by
                    #13

                    @Jeffrey-Mao , this issue has been properly fixed, details here : https://github.com/modalai/px4-firmware/commit/636ffefcb1a96ad2b53e988d23bf6419955b69ea . The fix is in voxl-dev branch of px4-firmware and will be included in the next nightly build and thereafter.

                    Eric KatzfeyE 1 Reply Last reply
                    0
                    • Alex KushleyevA Alex Kushleyev referenced this topic on
                    • Alex KushleyevA Alex Kushleyev

                      @Jeffrey-Mao , this issue has been properly fixed, details here : https://github.com/modalai/px4-firmware/commit/636ffefcb1a96ad2b53e988d23bf6419955b69ea . The fix is in voxl-dev branch of px4-firmware and will be included in the next nightly build and thereafter.

                      Eric KatzfeyE Offline
                      Eric KatzfeyE Offline
                      Eric Katzfey
                      ModalAI Team
                      wrote on last edited by
                      #14

                      @Alex-Kushleyev The fix is available in this build: http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/voxl-px4_1.14.0-2.0.77-202406051703_arm64.deb

                      1 Reply Last reply
                      0

                      Hello! It looks like you're interested in this conversation, but you don't have an account yet.

                      Getting fed up of having to scroll through the same posts each visit? When you register for an account, you'll always come back to exactly where you were before, and choose to be notified of new replies (either via email, or push notification). You'll also be able to save bookmarks and upvote posts to show your appreciation to other community members.

                      With your input, this post could be even better 💗

                      Register Login
                      Reply
                      • Reply as topic
                      Log in to reply
                      • Oldest to Newest
                      • Newest to Oldest
                      • Most Votes

                      ModalAI
                      Categories Recent Tags ModalAI.com Docs
                      © 2026 ModalAI® · Accelerating autonomy for smaller, smarter, safer drones · Powered by NodeBB
                      • Login
                      • Don't have an account? Register
                      • Login or register to search.
                      • First post
                        Last post
                      0
                      • Categories
                      • Recent
                      • Tags
                      • Popular
                      • Users
                      • Groups