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.

@Eric-Katzfey Those timeouts indicate that the processor is overloaded. Perhaps try enabling the new modules one by one to see if you can figure out which one is taking up too much time.

@garret The install-voxl.sh and related scripts are only there for developer use. They can help speed things up when making and testing many changes. Normally the package should be built and deployed. The default.px4board file controls what gets built. So, if you have new modules you first have to make sure they are built by adding them into that file. There is one for the Linux side (aka voxl2) and one for the DSP side (aka voxl2-slpi). High level stuff like Mavlink and logging go on the Linux side, all real time flight control functionality goes on the DSP side. Once it has been built it needs to be started. That is done by adding the start command into the startup file boards/modalai/voxl2/target/voxl-px4-start. If the driver / module is on the DSP side it has to be started with the qshell command.

@garret Oh, nice! Glad it's working now!

@Jetson-Nano voxl-fpv-dev is the name of the branch. The version will be a number, such as 1.14.0-8.104.3. Most of the joystick button mapping is handled by QGC directly. It maps them to commands that are sent over Mavlink. But the turtle mode is something specific built into the ESC driver. For the joystick buttons to work for turtle mode you need to set VOXL_ESC_MODE to 1. For newer versions of the voxl-fpv-dev branch you can also set VOXL_ESC_MODE to 2. The verify that the button mapping is working you can look at the manual_control_setpoint topic in px4 and see if the aux1 / aux2 fields are changing between 0.0 and 1.0. (e.g. px4-listener manual_control_setpoint)

@garret I have not seen these errors before. You shouldn't have needed the separate step of getting the Android NDK. I notice that you are preparing this on Ubuntu 22.04. The instructions state that it is only supported on Ubuntu 20.04.

@Eric-Katzfey For turtle mode with a joystick you need to set VOXL_ESC_MODE to 1 and, while not armed, press a button and keep it pressed while arming. For flight modes that should all be handled through QGC.

@Jetson-Nano Are you using QGC to map joystick buttons to functions? What version of PX4 are you running on your FC v2?

@george-kollamkulam As far as question #1, no it is not possible to update to Ubuntu 22.04 on the VOXL 2 autopilot. Updates must come from Qualcomm and then we have to adapt them to the VOXL 2. However, an update to 22.04 is not available.

@garret As long as you see it has extracted all of the files that should be all that you need.

@garret This is the documentation you need: https://docs.modalai.com/voxl-px4-dev-build-guide/. As part of that this readme: https://gitlab.com/voxl-public/rb5-flight/rb5-flight-px4-build-docker/-/blob/master/README.md?ref_type=heads has details on how to setup the build environment.