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.

@TomP Oh, yes, this is all great news! Very exciting to hear! I will send an email to your account with some follow up questions.

@TomP Wonderful! So glad to hear. And I would really love to hear how the flight testing goes. We've never tried a VOXL 2 (or VOXL 2 mini) on a fixed wing (with ArduPilot) so be careful and triple check to make sure everything looks setup correctly before launching.

@Eric-Katzfey Or just voxl-2-io upgrade_firmware?

@TomP Okay, I think that firmware needs to be upgraded. Can you try voxl-2-io and choose upgrade_firmware?

@TomP A new voxl-ardupilot package with debug information added. But we may not need that. Try voxl-2-io detect and then if that is successful then try voxl-2-io scan

@TomP Can you stop ardupilot and then run this command on VOXL 2 mini? voxl-2-io detect

@TomP Yep, that all looks fine. Shoot. I may need to send you a new package with extra debug information to help debug this since by default there really isn't much we can see.

@TomP Can you tell me how you have connected the UART pins on M0065 to the UART pins on VOXL 2 mini? Like the actual pin numbers that are connected?

@TomP Hmm, that looks correct. On my test setup running ArduPlane with those values I see output values being sent to the M0065 board. I'm wondering if there is a connectivity issue between the VOXL 2 mini and the IO board.

@TomP If you set the SERVO(x)_FUNCTION parameters according to this: https://ardupilot.org/plane/docs/servo-functions.html#overview do you get any PWM output?