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.

@JoeC SDK 1.1.1 is now available. Please use the installer in the voxl2_SDK_1.1.1.tar.gz archive to install this.

@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.

@Hammas-Ali We have not tried either of those streaming protocols. Voxl is a Linux computer so it is likely that you can implement RTMP or DASH. voxl-streamer uses GStreamer so, if there are RTMP or DASH GStreamer elements available, it shouldn't be too hard to incorporate them.

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.

@colombe-ai How did you end up with this drone? Do you know the history of it? Has it been involved in some crashes? There could be some connector / cable damage that is causing some of the peripherals to no longer work. It's going to need some low level troubleshooting.

@colombe-ai Can you please provide the SKU? (See: https://docs.modalai.com/sku/#inspect-sku). Was this drone flying before you updated? What version were you using before? If you go back to that version does everything work normally again?

@bendraper I just tried it and it is working now:

modalai@modalai:~/development/modalai/voxl-vision-hub (dev)$ voxl-docker -i voxl-cross
launching image: voxl-cross with the following command:
docker run --rm -it --net=host --privileged -w /home/modalai --volume=/dev/bus/usb:/dev/bus/usb -e LOCAL_USER_ID=0 -e LOCAL_USER_NAME=root -e LOCAL_GID=0 -v /home/modalai/development/modalai/voxl-vision-hub:/home/root:rw -w /home/root voxl-cross /bin/bash -l

voxl-cross(4.4):~(dev)(1.9.21)$ ./clean.sh 
voxl-cross(4.4):~(dev)(1.9.21)$ ./install_build_deps.sh qrb5165 dev
using qrb5165 dev debian repo
Ign:1 http://voxl-packages.modalai.com ./dists/qrb5165/dev/binary-arm64/ InRelease
Ign:2 http://voxl-packages.modalai.com ./dists/qrb5165/dev/binary-arm64/ Release
Get:3 http://voxl-packages.modalai.com ./dists/qrb5165/dev/binary-arm64/ Packages [76.8 kB]
Fetched 76.8 kB in 1s (122 kB/s)
Reading package lists... Done

INSTALLING: 
libmodal-json
libmodal-pipe
librc-math
libmodal-cv
voxl-mpa-tools
voxl-mavlink

Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
The following NEW packages will be installed:
  libmodal-cv:arm64 libmodal-json:arm64 libmodal-pipe:arm64 librc-math:arm64 voxl-mavlink:arm64
  voxl-mpa-tools:arm64
0 upgraded, 6 newly installed, 0 to remove and 2 not upgraded.
Need to get 5026 kB of archives.
After this operation, 0 B of additional disk space will be used.
Get:1 http://voxl-packages.modalai.com ./dists/qrb5165/dev/binary-arm64/ librc-math 1.4.6-202510091209 [180 kB]
Get:2 http://voxl-packages.modalai.com ./dists/qrb5165/dev/binary-arm64/ libmodal-cv 0.6.0-202510141028 [3887 kB]
Get:3 http://voxl-packages.modalai.com ./dists/qrb5165/dev/binary-arm64/ libmodal-json 0.4.8-202510091202 [52.5 kB]
Get:4 http://voxl-packages.modalai.com ./dists/qrb5165/dev/binary-arm64/ libmodal-pipe 2.14.10-202601210836 [151 kB]
Get:5 http://voxl-packages.modalai.com ./dists/qrb5165/dev/binary-arm64/ voxl-mavlink 0.1.6-202511141246 [650 kB]
Get:6 http://voxl-packages.modalai.com ./dists/qrb5165/dev/binary-arm64/ voxl-mpa-tools 1.5.6-202601201423 [106 kB]
Fetched 5026 kB in 1s (6805 kB/s)         
debconf: unable to initialize frontend: Dialog
debconf: (No usable dialog-like program is installed, so the dialog based frontend cannot be used. at /usr/share/perl5/Debconf/FrontEnd/Dialog.pm line 79, <STDIN> line 6.)
debconf: falling back to frontend: Readline
Selecting previously unselected package librc-math:arm64.
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Setting up voxl-mavlink:arm64 (0.1.6-202511141246) ...
Setting up libmodal-json:arm64 (0.4.8-202510091202) ...
Setting up librc-math:arm64 (1.4.6-202510091209) ...
Setting up libmodal-pipe:arm64 (2.14.10-202601210836) ...
Setting up libmodal-cv:arm64 (0.6.0-202510141028) ...
Setting up voxl-mpa-tools:arm64 (1.5.6-202601201423) ...
Processing triggers for libc-bin (2.39-0ubuntu8.5) ...

Done installing dependencies

voxl-cross(4.4):~(dev)(1.9.21)$ ./build.sh qrb5165
Found voxl-cross version: 4.4
-- ---------------------------------------------------------
-- Using voxl-cross 64-bit toolchain for QRB5165 ubun1 18.04
-- C Compiler  : /usr/bin/aarch64-linux-gnu-gcc-7
-- C++ Compiler: /usr/bin/aarch64-linux-gnu-g++-7
-- Sysroot     : /opt/sysroots/qrb5165_1
-- C flags     : -isystem=/usr/lib/gcc/aarch64-linux-gnu/7/include -isystem=/usr/local/include -isystem=/usr/lib/gcc/aarch64-linux-gnu/7/include-fixed -isystem=/usr/include/aarch64-linux-gnu -isystem=/usr/include -idirafter /usr/include -march=armv8.2-a
-- CXX flags   : -isystem=/usr/include/c++/7 -isystem=/usr/include/aarch64-linux-gnu/c++/7 -isystem=/usr/include/c++/7/backward -isystem=/usr/lib/gcc/aarch64-linux-gnu/7/include -isystem=/usr/local/include -isystem=/usr/lib/gcc/aarch64-linux-gnu/7/include-fixed -isystem=/usr/include/aarch64-linux-gnu -isystem=/usr/include -idirafter /usr/include -march=armv8.2-a
-- Link Flags  :  -B/opt/sysroots/qrb5165_1/usr/lib/ -L/opt/sysroots/qrb5165_1/usr/lib/gcc/aarch64-linux-gnu/7 -L/opt/sysroots/qrb5165_1/usr/lib/aarch64-linux-gnu -L/opt/sysroots/qrb5165_1/usr/lib -L/opt/sysroots/qrb5165_1/lib/aarch64-linux-gnu -L/opt/sysroots/qrb5165_1/usr/lib/aarch64-linux-gnu -L/opt/sysroots/qrb5165_1/lib -L/usr/lib64 -L/usr/lib
-- The C compiler identification is GNU 7.3.0
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-- Detecting CXX compile features
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-- Configuring done (0.3s)
-- Generating done (0.0s)
-- Build files have been written to: /home/root/build
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@bendraper The code is open source. It is located here: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-vision-hub/-/tree/dev?ref_type=heads. We encourage users to clone the repo and familiarize themselves with the code base. Did you try setting offboard_mode to off? Did it stop the SET_POSITION_TARGET_LOCAL_NED messages from being sent out?

@bendraper I would recommend using dev instead of master. dev is latest, master is an occasional snapshot of dev. However, dev can sometimes be broken so that's always a risk.

@bendraper You cannot always match dev and master. Since you want to build master I would suggest using staging for you dependencies instead. Why don't you want the dev branch?

@bendraper If you don't provide any arguments then the command will not work and you won't get any dependencies installed.

@bendraper Which repo are you using for the dependencies? For example: voxl-cross(4.4):~(master)(1.9.20)$ ./install_build_deps.sh qrb5165 staging

@jonathankampia https://gitlab.com/voxl-public/voxl-sdk/core-libs/libmodal-pipe/-/blob/master/library/src/interfaces.c?ref_type=heads#L72

@bendraper Edit /etc/modalai/voxl-vision-hub.conf and set "offboard_mode": "off"