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.

@Kessie Excellent, glad to hear you got it working! And thanks for adding the details on what you had to do to the posting!

@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.

@Dan It's not really documented anywhere other than the source code. The best place to look is at the muorb module code. That is what implements the uorb communicator interface to allow advertisements, subscription requests, and topic data to flow between the DSP and the Linux side.

@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.

@Jetson-Nano How are the VOXL_ESC parameters set on your FCv2? There could be a UART baud rate mismatch between what FCv2 is using and what the ESC is using.

@jacob-yaacubov We have some add-on boards that would allow connection of 2 USB cameras. For example: https://www.modalai.com/collections/voxl-2-add-ons/products/voxl-microhard-modem-usb-hub and https://www.modalai.com/collections/voxl-2-add-ons/products/voxl-lte?variant=32449203601459

@Jetson-Nano Are you using PX4 on the flight core v2? If so, what version? What do you mean when you say that it is not recognizing the ESC?

@EduardoP Yes, the video stream is separate from the command and control stream. Video is streamed using RTSP, and telemetry, command, and control is streamed using Mavlink. Beyond this, VOXL 2 is meant to be an open development platform that you can use to create your own custom methods of streaming if so desired.

@Meytal-Lempel You mean like journalctl -b -u voxl-mapper?

@Meytal-Lempel Here is the logging documentation: https://docs.modalai.com/voxl-logger/

@GlennTee Can you please start a separate post for each new question? Thanks!

@GlennTee Ah, I assumed you were on the latest SDK version. You really should be. Can you first update to SDK 1.4.x?

@GlennTee Just download the Debian (e.g. wget http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/voxl-px4_1.14.0-2.0.99-202504161252_arm64.deb) to the VOXL 2 and then use dpkg -i http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/voxl-px4_1.14.0-2.0.99-202504161252_arm64.deb to install it.

@Andrew-Jue You can use any port you like but you are connecting to port 14550 as a GCS. So you can''t use 14550 or else you'll get the port already in use error.