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.

@Samuel-Marchetti Perhaps this can help with the odometry? https://forum.modalai.com/topic/3341/odometry-message/3?_=1782862595827

@saegsali BTW, the voxl_i2c commands are only going to try to exercise apps processor mapped i2c buses, not the DSP mapped ones on J19. Stick with the PX4 commands, those should work. And when you start PX4 from the command line use the -d option so that it doesn't start in daemon mode. E.g. MINIMAL_PX4=1 voxl-px4 -d.

@saegsali When you run that test is your custom PCB attached to the lines? What if you remove the PCB and just look at the lines?

@saegsali I would attach a GPS / magnetometer to J19 (UART and I2C). Verify that PX4 is getting good GPS and magnetometer data. Then probe the I2C lines while the device(s) are still attached.

@saegsali I really need you to be specific on how you tried to access the i2c. Please provide the exact commands issued so that I can see if what you were trying to do should have caused activity on the i2c bus.

@saegsali But how were you trying to access the I2C? What software? Via PX4?

@saegsali How are you trying to access the external i2c buses on J19?

@NikosMav Yes, things will get hotter when running QVIO. But once you arm and start the props everything will cool down. When reflashing the SDK I would grab one of the official releases from our downloads page and not a nightly.

@NikosMav Also, before changing anything can you capture a PX4 log and send that? From the adb command line you can use px4-logger on, wait a few seconds, then issue px4-logger off. You should see a log file somewhere in /data/px4/log. Perhaps to make sure it's the correct log delete all current logs before running this such that there is only one log file there.

@NikosMav Can you reinstall the SDK from scratch and verify that everything works properly? Was everything working before you changed the parameters?