Steps:

• Mission Planner is connected to the ardupilot instance over radio link
• Restart ardupilot, through either the mission planner interface or systemctl restart
• Disconnect mission planner
• Reconnect Mission Planner

Mission Planner will reconnect but when it tries to download the params list from the autopilot the data stream stops and the motors beep indicating loss of signal from the autopilot. Restarting voxl-ardupilot with systemctl resolves the issue but this is a consistent problem.

Performing a full power cycle does not recreate this issue. Mission Planner can be disconnected and reconnected without issue.

systemctl status voxl-ardupilot - Before crash

voxl2 (M0054):~$ systemctl status voxl-ardupilot
● voxl-ardupilot.service - ArduPilot
  Loaded: loaded (/etc/systemd/system/voxl-ardupilot.service; enabled; vendor preset: enabled)
  Active: active (running) since Tue 2026-07-28 18:59:14 UTC; 2min 52s ago
 Process: 2173 ExecStartPre=/bin/sleep 1 (code=exited, status=0/SUCCESS)
Main PID: 2320 (voxl-ardupilot)
   Tasks: 8 (limit: 4915)
  CGroup: /system.slice/voxl-ardupilot.service
          ├─2320 /bin/bash /usr/bin/voxl-ardupilot
          └─2323 /usr/bin/ardupilot

Jul 28 18:59:13 m0054 systemd[1]: Starting ArduPilot...
Jul 28 18:59:14 m0054 systemd[1]: Started ArduPilot.
Jul 28 18:59:14 m0054 voxl-ardupilot[2320]: Starting up
Jul 28 18:59:14 m0054 voxl-ardupilot[2320]: Got data msg before configuration complete

systemctl status voxl-ardupilot - After crash

● voxl-ardupilot.service - ArduPilot
   Loaded: loaded (/etc/systemd/system/voxl-ardupilot.service; enabled; vendor preset: enabled)
   Active: active (running) since Tue 2026-07-28 19:07:34 UTC; 1min 40s ago
  Process: 6178 ExecStartPre=/bin/sleep 1 (code=exited, status=0/SUCCESS)
 Main PID: 6199 (voxl-ardupilot)
    Tasks: 8 (limit: 4915)
   CGroup: /system.slice/voxl-ardupilot.service
           ├─6199 /bin/bash /usr/bin/voxl-ardupilot
           └─6200 /usr/bin/ardupilot

Jul 28 19:09:07 m0054 voxl-ardupilot[6199]: Got response cb 0
Jul 28 19:09:08 m0054 voxl-ardupilot[6199]: Got response cb 0
Jul 28 19:09:09 m0054 voxl-ardupilot[6199]: Got response cb 0
Jul 28 19:09:09 m0054 voxl-ardupilot[6199]: Got response cb 0
Jul 28 19:09:10 m0054 voxl-ardupilot[6199]: Got response cb 0
Jul 28 19:09:11 m0054 voxl-ardupilot[6199]: Got response cb 0
Jul 28 19:09:12 m0054 voxl-ardupilot[6199]: Got response cb 0
Jul 28 19:09:13 m0054 voxl-ardupilot[6199]: Got response cb 0
Jul 28 19:09:14 m0054 voxl-ardupilot[6199]: Got response cb 0
Jul 28 19:09:14 m0054 voxl-ardupilot[6199]: Got response cb 0
Jul 28 19:09:15 m0054 voxl-ardupilot[6199]: Got response cb 0
voxl2 (M0054):~$

voxl-version

voxl2 (M0054):~$ voxl-version
────────────────────────────────────────────────────────────────────────────────
system-image: 1.8.06-M0054-14.1a-perf
kernel:       #1 SMP PREEMPT Wed Oct 22 04:13:18 UTC 2025 4.19.125
────────────────────────────────────────────────────────────────────────────────
hw platform:  M0054
mach.var:     1.0.1
SKU:          MCCA-M0054-C0-T0-M0-X0
────────────────────────────────────────────────────────────────────────────────
voxl-suite:   1.6.3
────────────────────────────────────────────────────────────────────────────────
Packages:
Repo:  http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-1.6/binary-arm64/
Last Updated: 2026-07-28 17:00:51
List:
libfc-sensor                   1.0.9
libmodal-cv                    0.6.0
libmodal-exposure              0.1.4
libmodal-flow                  1.0.3
libmodal-journal               0.2.7
libmodal-json                  0.4.8
libmodal-pipe                  2.14.11
libqrb5165-io                  0.6.3
libvoxl-cci-direct             0.3.3
libvoxl-codec                  0.0.5
libvoxl-cutils                 0.1.6
modalai-slpi                   1.2.2
mv-voxl                        0.1-r0
qrb5165-bind                   0.1-r0
qrb5165-dfs-server             0.2.0
qrb5165-mini-tof-server        0.2.2
qrb5165-rangefinder-server     0.1.6
qrb5165-slpi-test-sig          01-r0
qrb5165-tflite                 2.17.2
voxl-ardupilot                 4.8.0-8ed7441c
voxl-bind-spektrum             0.1.1
voxl-camera-calibration        0.6.1
voxl-camera-server             2.2.25
voxl-ceres-solver              2:2.0.0-2
voxl-configurator              1.1.5
voxl-cpu-monitor               0.7.7
voxl-docker-support            1.3.1
voxl-elrs                      1.1.0
voxl-esc                       1.5.7
voxl-esptool                   0.2.0
voxl-feature-tracker           0.5.2
voxl-flow-server               0.3.6
voxl-gphoto2-server            0.0.10
voxl-imu-server                2.0.1
voxl-io-server                 0.0.8
voxl-jpeg-turbo                2.1.3-7
voxl-lepton-server             1.3.3
voxl-lepton-tracker            0.0.4
voxl-libgeographic             1.0.0
voxl-libgphoto2                0.0.4
voxl-libuvc                    1.0.7
voxl-logger                    0.6.1
voxl-mavcam-manager            0.6.0
voxl-mavlink                   0.1.6
voxl-mavlink-server            1.4.14
voxl-microdds-agent            3.0.0-0
voxl-modem                     1.2.3
voxl-mongoose                  7.19.0
voxl-mpa-to-ros                0.3.9
voxl-mpa-to-ros2               0.0.7
voxl-mpa-tools                 1.5.8
voxl-nano-tracker              0.1.7
voxl-open-vins-server          0.6.0
voxl-opencv                    4.5.5-3
voxl-osd                       0.3.8
voxl-portal                    0.8.7
voxl-px4                       1.14.0-2.0.133
voxl-px4-params                0.9.0
voxl-qvio-server               1.2.3
voxl-remote-id                 0.0.9
voxl-reset-slpi                0.0.1
voxl-ros2-foxy                 0.0.1
voxl-state-estimator           0.0.6
voxl-streamer                  0.8.0
voxl-suite                     1.6.3
voxl-tag-detector              0.1.0
voxl-tflite-server             0.5.1
voxl-utils                     2.0.2
voxl-uvc-server                0.1.7
voxl-vision-hub                1.9.21
voxl-vtx                       2.0.2
voxl-wavemux                   0.0.3
voxl2-io                       0.0.3
voxl2-security-hardening-utls  1.0-r0
voxl2-system-image             1.8.06-r0
voxl2-wlan                     1.0-r0

voxl-inspect-services

voxl2 (M0054):~$ voxl-inspect-services
Scanning services...

 Service Name             |  Enabled  |   Running   |  CPU Usage
───────────────────────────────────────────────────────────────────
 docker-autorun           | Disabled  | Not Running |
 modallink-relink         | Disabled  | Not Running |
 voxl-ardupilot           |  Enabled  |   Running   |     0.0%
 voxl-camera-server       |  Enabled  |   Running   |     0.0%
 voxl-cpu-monitor         |  Enabled  |   Running   |     0.0%
 voxl-dfs-server          | Disabled  | Not Running |
 voxl-dma-latency         |  Enabled  |   Running   |
 voxl-feature-tracker     | Disabled  | Not Running |
 voxl-flow-server         | Disabled  | Not Running |
 voxl-imu-server          |  Enabled  |   Running   |     3.5%
 voxl-io-server           | Disabled  | Not Running |
 voxl-lepton-server       | Disabled  | Not Running |
 voxl-lepton-tracker      | Disabled  | Not Running |
 voxl-logger              | Disabled  | Not Running |
 voxl-mavcam-manager      | Disabled  | Not Running |
 voxl-mavlink-server      |  Enabled  |   Running   |     0.0%
 voxl-microdds-agent      |  Enabled  |   Running   |
 voxl-mini-tof-server     | Disabled  | Not Running |
 voxl-modem-doodle        |  Enabled  |   Running   |     0.0%
 voxl-modem               |  Enabled  |   Running   |     1.8%
 voxl-nano-tracker        | Disabled  | Not Running |
 voxl-open-vins-server    | Disabled  | Not Running |
 voxl-osd                 | Disabled  | Not Running |
 voxl-portal              |  Enabled  |   Running   |     0.0%
 voxl-px4                 | Disabled  | Not Running |
 voxl-qvio-server         | Disabled  | Not Running |
 voxl-rangefinder-server  | Disabled  | Not Running |
 voxl-remote-id           | Disabled  | Not Running |
 voxl-softap              | Disabled  | Not Running |
 voxl-state-estimator     | Disabled  | Not Running |
 voxl-static-ip-watcher   | Disabled  | Not Running |
 voxl-static-ip           | Disabled  | Not Running |
 voxl-streamer            | Disabled  | Not Running |
 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   |     1.8%
 voxl-vrx                 | Disabled  | Not Running |
 voxl-vtx                 | Disabled  | Not Running |
 voxl-wait-for-fs         |  Enabled  |  Completed  |

voxl-mavlink-server.cfg

/**
 * voxl-mavlink-server Configuration File
 *
 * primary_static_gcs_ip & secondary_static_gcs_ip
 *    These configure voxl-mavlink-server to automatically try to connect to
 *    up to two known static GCS units. Set to empty or NULL if you don't want
 *    to use this and you want the GCS to initialize the connection instead.
 *    Note the default IP for the primary link is 192.168.8.10 which is the
 *    first IP that VOXL DHCP serves when connecting in wifi softap mode.
 *
 *    DON'T set either of these ip addresses to localhost, these are meant
 *    for external ground control stations. For mavsdk and mavros communication
 *    locally, set the 'en_localhost_mavlink_udp' flag in voxl-vision-hub's
 *    /etc/modalai/voxl-vision-hub.conf file instead.
 *
 * primary_static_gcs_ip_port & secondary_static_gcs_ip_port
 *    UDP port numbers for the static GCS IPs above, default to 14550 each, respectively
 *
 * Settings for running voxl-px4 on SLPI:
 * onboard_port_to_autopilot   - UDP port to send high-rate onboard data to SLPI
 * onboard_port_from_autopilot - UDP port to receive high-rate onboard data from SLPI
 * gcs_port_to_autopilot       - UDP port to send normal-rate gcs data to SLPI
 * gcs_port_from_autopilot     - UDP port to receive normal-rate gcs data from SLPI
 *
 * Settings for running an external autopilot connected via UART:
 * en_external_uart_ap       - set to true to enable an external flight controller
 * autopilot_uart_bus        - uart bus, default 1 for VOXL2
 * autopilot_uart_baudrate   - default 921600
 * autopilot_mission_delay_start - default -1 (off), >0 means to delay mission start for X seconds
 * autopilot_mission_delay_sound - play esc chime tone/behavior, true=on false=off
 * autopilot_mission_notif_dur   - visual notification using motor spin, duration in seconds
 * en_external_fc_timesync   - enable responding to timesync messages
 *                                   (enabled by default)
 * en_external_ap_heartbeat  - enable automatic sending of heartbeat
 * gcs_timeout_s - time without heartbeat to consider GCS disconnected
 *
 * udp_mtu - maximum transfer unit for UDP packets back to GCS. voxl-mavlink-server
 *           will bundle up backets for the GCS into a single UDP packet with
 *           a maxium size of this. This saves network traffic drastically.
 *           Set to 0 to disable this feature and send one UDP packet per msg.
 *
 *
 * External FC field is for QRB5165 only. Set to true to enable UART
 * communication to an external flight controller, otherwise a UDP interface
 * will be started to talk to voxl-px4 on localhost which is the default behavior.
 * Select UART port 1 to go through the legacy B2B connector, that's the port exposed by the
 * M0125 and M0141 accessory boards. Use port 12 to go through the ESC port (J18).
 *
 */
{
        "primary_static_gcs_ip":        "10.223.0.12",
        "primary_static_gcs_ip_port":   14550,
        "secondary_static_gcs_ip":      "10.223.0.202",        
		"secondary_static_gcs_ip_port": 14550,
        "onboard_port_to_autopilot":    14556,
        "onboard_port_from_autopilot":  14557,
        "gcs_port_to_autopilot":        14558,
        "gcs_port_from_autopilot":      14559,
        "en_external_uart_ap":  false,
        "autopilot_uart_bus":   1,
        "autopilot_uart_baudrate":      921600,
        "autopilot_mission_delay_start":        -1,
        "autopilot_mission_delay_sound":        false,
        "autopilot_mission_force_restart":      0,
        "autopilot_mission_notif_dur":  0.1,
        "en_external_ap_timesync":      1,
        "en_external_ap_heartbeat":     1,
        "udp_mtu":      500,
        "gcs_timeout_s":        4.5
}