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

@Jetson-Nano It should be no different than with any other flight controller hardware running PX4. The PX4 documentation should be able to explain how to do that.

@Jetson-Nano Yes, that should work. You should be able to send heartbeats from a Python script using pymavlink and connect to the flight controller via voxl-mavlink-server. Then you should start receiving all the normal messages sent out by the flight controller to the GCS which should include the RC channels message.

@Jetson-Nano Probably should also look at the pipe for messages from the flight controller to the GCS (Labeled mavlink_to_gcs in the above diagram but you'll have to double check that name). Generally the flight controller is configured with two mavlink streams. One is the onboard stream that has high rate messages and is intended for local use (e.g. on VOXL or VOXL 2) and the other is more the default settings for communication with a GCS. You can configure what each of these streams contain in PX4. You can add streams, change stream rates, etc. all via PX4 configuration. Please refer to the PX4 documentation for details on how to do this.

@Jia-Wan Yes, you should be able to do your testing with SITL before trying it on Starling.

@Jia-Wan You can specify a secondary GCS link in the voxl-mavlink-server configuration file (/etc/modalai/voxl-mavlink-server.conf). This can be used to send your mavlink commands from your automation program.

@Kiazoa-Joao Figure 8 code is here: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-vision-hub/-/blob/master/src/offboard_figure_eight.c?ref_type=heads. You can use that as a reference to make it do whatever you want.

@Mouhamed-Ndoye What is the interface to control these propulsion units? Is it standard PWM? VOXL does not have a flight controller integrated, it is only a companion computer. But VOXL 2 and VOXL 2 mini support either PX4 or ArduPilot. They, however, do not have any PWM outputs. You would need to use our VOXL 2 Digital IO expander board (https://www.modalai.com/products/voxl2-io?variant=40610514206771) in addition to the VOXL 2 to get that added capability.

@boga There's a number of ways to get it. One way, if you are using qvio, is with voxl-logger. For example: voxl-logger -v qvio will store the odometry data in /data/voxl-logger/logxxxx/run/mpa/qvio/data.csv. You can start this in a service file (e.g. /etc/systemd/system/voxl-logger.service) so that it is always generating a log

@Gary-Holmgren I'm thinking you could write a program that uses libqrb5165-io to communicate via the UART on J18 and then expose the traffic on UDP on the applications processor. Sort of like a bridge application.

@JP-Drone Looks like there was an issue with the handling of strings in the DSP version of the code. I made an update, can you try it now? http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/voxl-px4_1.14.0-2.0.89-202412270902_arm64.deb