There is a new module under development that allows you to pipe VGA (640x480) video from the hires camera at 30fps via MPA so that it can be streamed with voxl-streamer using RTSP while simultaneously saving 4k HD video at 30fps encoded as h265 into a file, preferably on the SD card on voxl. This module is now available in beta and will be officially released in upcoming releases of the voxl SDK for voxl, rb5-flight, and voxl 2. The beta package is available using wget https://storage.googleapis.com/modalai_public/modal_packages/archive/voxl-hires-server_0.0.1.ipk. It is meant for use on voxl only and is compatible with voxl platform release 3-3-0-0.5.0-a. In order to use it with voxl-camera-server, reconfigure voxl-camera-server to not use the hires camera. For example, call voxl-configure-cameras and choose option 1 Tracking + Stereo to allow voxl-camera-server to access the tracking and stereo cameras but not the hires camera. Then you can use voxl-hires-server for the hires camera. Use voxl-hires-server -h to see the available options. More documentation will be available upon official release of this new package.

@kitkatSG Yes, we have enabled most resolutions in that sensor now and are preparing a release to address this issue.

@JoeC Seems like it is an SD card issue. I was able to recreate the problem when using a SanDisk Extreme 32GB card. But when using a SanDisk Ultra 16GB card everything works fine.

@Morten-Nissov 1MHz is a supported clock rate for i2c on the DSP based on what I can see in the code. But we have never tried running a device at 1MHz on i2c so it's tough to say why it wouldn't be working for you.

@ceu-gomez PX4 on VOXL2 is composed of two separate applications. One is on the applications processor (running Ubuntu) and the other is on the DSP (running Qurt RTOS). They use the muorb module to communicate topic data back and forth. The spare i2c on J19 is mapped to the DSP, not the applications processor, so Ubuntu has no access to it. To gain access to it on Ubuntu side with PX4 running would require some new code. This is something that is on our development roadmap but no definitive answer on when we will be able to get to it.

@smilon Yes, in order to build you can follow the README in the voxl-px4 project. The Docker provides the build environment so you need to use it.

@Sam-Kiley When on public 3G / 4G / 5G networks we use a VPN and assign fixed addresses to each system component with our VPN configuration. You should be able to do a similar thing with your 5G private network. Does your private network have a connection to the Internet or is it self contained? I don't know anything about 5G private networks but I'd be surprised if it didn't have a way to assign the same IP address to a device on the network so that you effectively have a static IP. Earlier versions of the RB5 SDK set the MAV_BROADCAST parameter in PX4 to 1 and PX4 would then use the network broadcast address to send out it's initial messages. Any QGC instance running on the network will receive that broadcast and respond so that you get automatic connection. However, this can be problematic if there are more than one instance of QGC running since you may connect to an instance that you don't want. Also, some wireless networks do not support broadcast.

@Curious By default the voxl-streamer application assumes a wireless link. But you can change the configuration as needed. See https://docs.modalai.com/voxl-streamer/

An update to UVC camera support has been started. It will increase number of supported cameras by allowing MJPEG and will increase number of supported viewers including latest QGroundControl versions. Target availability is mid-December.

@Zachary-Lowell-0 The updated Debian package can be found here: http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/voxl-mpa-to-ros2_0.0.3-202406240850_arm64.deb

@scosgrove Unfortunately, there isn't a whole lot of useful documentation about that. You kind of have to look through the Qualcomm source code to get an idea of what it is doing. One idea is to use the Qualcomm mini-dm debug tool. It is included with the Hexagon SDK. If you are connected to the USB port (i.e. you can use adb) then you can use mini-dm. This will output more information from the DSP as it is running and you may see some error messages coming out when you are seeing issues with data loss.

@voxl-phoenix J19 has pins for 2 UARTs. We put GNSS on one and RC on the other. So if you are able to hook up everything correctly, configure the TBS crossfire receiver correctly, and configure PX4 correctly then it should work.

@Eric-Katzfey I will need to add the support for up to 8 PWM outputs on VOXL 2 IO board. Right now it only supports 4. You should be able to do test flights without the gimbal with 4 PWM outputs.

@TomP I have updated the documentation at https://docs.modalai.com/voxl-ardupilot/. The VOXL 2 IO board with up to 4 PWM outputs is now supported and has been tested on a quadcopter with 4 PWM ESCs. You should be able to use this for arduplane now. We are putting together our own fixed wing test platform and hope to begin testing soon.

@voxl-phoenix VOXL 2 is really not a great place to start if you are new to drones. And the best way to start with a VOXL 2 is with one of our pre-built drones like the Starling 2 (https://www.modalai.com/products/starling-2), not with a bare board. The standard place to connect RC for PX4 is J19.

@voxl-phoenix What PX4 driver are you intending to use with it? And why don't you want to attach it to the "normal" RC UART on J19?

@Jeremy-Frederick Okay, well then you will need to add support for such an external Mavlink enabled peripheral into voxl-mavlink-server. We don't currently support that.

@Jeremy-Frederick Without going through the voxl-mavlink-server source code in detail I'm pretty sure that what you want to do is not currently supported. So, some new functionality will likely need to be added to voxl-mavlink-server. What third party unit are you trying to integrate with? Does it require bi-directional traffic or does it just send out packets and not expect to receive anything?

@scosgrove PX4 runs on the Sensors Hexagon DSP (AKA SLPI, AKA SDSP). Most of PX4 runs on that DSP but there is some part of PX4 that runs on the Linux applications processor (e.g. Mavlink, logging, data manager, etc.). The applications processor portion communicates with the DSP portion via the muorb (multiprocessor uorb) module in PX4. Unfortunately, all of the details of the UART HW and drivers (including the API) are Qualcomm proprietary so we are not able to share details of that. There isn't much configuration going on though, just port number and baudrate. There is no DMA. Can you move your driver to the applications processor? If you have an add-on board with an application processor mapped UART then you could run on the applications processor.

@JP-Drone Can you try this voxl-px4 package and see if msp_dp_osd works for you on the GPS UART? You will need to add the driver start command in /usr/bin/voxl-px4-start. For example: qshell msp_dp_osd start -d 6. Download the package with wget http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/voxl-px4_1.14.0-2.0.87-202412180935_arm64.deb or use the link http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/voxl-px4_1.14.0-2.0.87-202412180935_arm64.deb