Currently setting up a Voxl 2 for DFS with Ardupilot and can read the proximity for the most part but think I have a lot of false positives... https://docs.modalai.com/dfs-qrb5165/ this page is a WiP so I was wondering if anyone found ideal tuning parameters for the config file to do obstacle avoidance with the QRB5165???

I noticed in the wifi setup that there's a note that says

Note: It’s not currently possible to assign a static IP, only DHCP is supported. If you need a static IP on your own wifi network it’s best to configure that in your router’s software.

I was wondering if this is still true today or if this was addressed in the new 1.0 SDK?

@Alex-Kushleyev So I can see a gadget functionality called gsi.rndis (I'd expect something called rndis.0 or something but maybe that is irrelevant) but when I change the line in /sbin/usb/compositions/901D to use gsi.rndis instead of ncm.0, my network interface on windows disappears and I can no longer ADB. I'd imagine there's something at the kernal level that doesn't like that but I'm out of my wheelhouse there. Setting it back to ncm.0 returns to the previous state but still cannot ping. Wireshark doesn't even see anything happening over that interface

@Alex-Kushleyev It looks like someone on the forums maybe had success setting up the interface as an RNDIS gadget. I'll try to mess with it some more but let me know if you find a solution. Thanks!

@Alex-Kushleyev Yea I can get a connection on a linux machine with no issue. I do need to get it working on a Windows machine for my purposes though. I definitely have the static IP setup correctly. I tried populating the gateway and also not populating it. I confirmed in powershell that there is indeed a route present for that traffic, but they do not want to communicate with each other. Some quick research seems to suggest Windows is very finicky with the CDC NCM protocol and it is more suited to work with an RNDIS interface. Were you able to ping/ssh to a voxl via an ethernet interface on the usb-c port to a windows machine using just the commands you listed above in this post?

@Alex-Kushleyev I saw a post from @tom from a few years ago discussing how there should be the necessary drivers to support an RNDIS gadget so I assume that is my issue. Any insight on how to enable that?

[Apr 1 19:15] configfs-gadget gadget: Wrong NDP SIGN
[ +12.232553] usbpd usbpd0: Type-C Source (default) connected
[  +0.019411] usbpd usbpd0: USB Type-C disconnect
[  +0.004363] android_work: sent uevent USB_STATE=DISCONNECTED
[  +0.001100] msm-dwc3 a600000.ssusb: DWC3 in low power mode
[  +3.492478] usbpd usbpd0: Type-C Source (medium - 1.5A) connected
[  +0.113740] msm-usb-ssphy-qmp 88e8000.ssphy: USB DP QMP PHY: Update TYPEC CTRL(3)
[  +0.057403] msm-dwc3 a600000.ssusb: DWC3 exited from low power mode
[  +0.068603] usbpd usbpd0: Type-C Source (high - 3.0A) connected
[  +0.238255] android_work: sent uevent USB_STATE=CONNECTED
[  +0.041534] configfs-gadget gadget: high-speed config #1: c
[  +0.000644] android_work: sent uevent USB_STATE=CONFIGURED
[  +0.195765] usbpd usbpd0: Type-C Source (medium - 1.5A) connected
[  +0.021780] usbpd usbpd0: Type-C Source (high - 3.0A) connected
[  +0.179818] configfs-gadget gadget: Wrong NDP SIGN
[  +0.000172] configfs-gadget gadget: Wrong NDP SIGN
[  +0.069075] configfs-gadget gadget: Wrong NDP SIGN
[  +0.002827] configfs-gadget gadget: Wrong NDP SIGN
[  +0.176097] configfs-gadget gadget: Wrong NDP SIGN
[  +0.001314] configfs-gadget gadget: Wrong NDP SIGN
[  +0.001331] configfs-gadget gadget: Wrong NDP SIGN
[  +0.250721] configfs-gadget gadget: Wrong NDP SIGN
[  +0.491456] configfs-gadget gadget: Wrong NDP SIGN
[  +0.000164] configfs-gadget gadget: Wrong NDP SIGN
[  +0.000446] configfs-gadget gadget: Wrong NDP SIGN
[  +0.067507] configfs-gadget gadget: Wrong NDP SIGN
[  +0.000984] configfs-gadget gadget: Wrong NDP SIGN
[  +0.012649] configfs-gadget gadget: Wrong NDP SIGN
[  +0.183993] configfs-gadget gadget: Wrong NDP SIGN
[  +0.001107] configfs-gadget gadget: Wrong NDP SIGN
[  +0.211788] configfs-gadget gadget: Wrong NDP SIGN
[  +0.030077] configfs-gadget gadget: Wrong NDP SIGN

@Alex-Kushleyev Should this work on a Voxl to Windows computer connection? I ran the sed and udev rule commands and how the voxl does indeed come up as an ethernet device upon connecting (UsbNcm Host Device) and I can set up the static IPs appropriately, but I cannot ping one to the other for some reason. I can still use the port as an ADB interface and I thought maybe that was the issue but doing adb kill-server on the windows side still doesn't do the trick

@Eric-Katzfey I got about a million warnings when actually building but it did appear to build after initializing the submodules. Thanks!

@Alex-Kushleyev any ideas?

Also experiencing this issue. @Eric-Katzfey could you provide any inside here? I've also tried different branches in the open vins server repo and different branches for install_deps such as staging and sdk_1.6

@Eric-Katzfey dev seems to be broken in that case as I was getting the error

/home/root/src/main.c:42:10: fatal error: voxl_vfc_config.h: No such file or directory

@Eric-Katzfey I tried staging and that ended up working. I was trying dev because voxl-vision-hub repo says to