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.

@Jetson-Nano This is a feature that was designed specifically for our FPV drones so that is the only branch that has it supported.

@bambamoda Are you asking about flight controllers (FC) that can do 8 motors or ESCs that can do 8 motors?

@Jetson-Nano The turtle mode is built into the px4 voxl_esc driver so it will only work with that ESC.

@ravi I'm suspecting you have a bad cable or the cable is subject to some interference. Can you try this on a benchtop with just a VOXL 2 and an FC v2 and no other components? Is it currently integrated into a custom drone? Can you look at the signal quality on the TX and RX UART lines with an oscilloscope?

@ravi Here is what I see on my setup testing with baudrate 921600, TELEM1 (J1), and J18 (12):

nsh> mavlink status

instance #0:
    GCS heartbeat valid
    mavlink chan: #0
    type:        GENERIC LINK OR RADIO
    flow control: OFF
    rates:
      tx: 1773.5 B/s
      txerr: 0.0 B/s
      tx rate mult: 1.000
      tx rate max: 46080 B/s
      rx: 570.5 B/s
      rx loss: 0.0%
    Received Messages:
      sysid:255, compid:190, Total: 2341 (lost: 57)
        msgid:  126, Rate:  nan Hz, last 0.01s ago
        msgid:    4, Rate:  0.1 Hz, last 2.27s ago
        msgid:    0, Rate:  1.0 Hz, last 0.58s ago
        msgid:   69, Rate: 29.1 Hz, last 0.02s ago
      sysid:  1, compid:197, Total: 108 (lost: 0)
        msgid:    0, Rate:  1.0 Hz, last 0.86s ago
    FTP enabled: YES, TX enabled: YES
    mode: Normal
    Forwarding: Off
    MAVLink version: 2
    transport protocol: serial (/dev/ttyS6 @921600)
    ping statistics:
      last: 14.29 ms
      mean: 31.46 ms
      max: 135.44 ms
      min: 13.21 ms
      dropped packets: 0

@alan123 If it keeps reporting changing to a new UART baudrate then that's an indication that it isn't connecting at all to the GPS unit. You could also put an oscilloscope on the lines to see if you can detect traffic from the GPS and from VOXL 2.

@alan123 I would try running voxl-px4 from the command line instead of as a service and looking at the messages to see if there are any obvious errors being reported. (e.g. systemctl disable voxl-px4, systemctl stop voxl-px4, wait a few seconds, then voxl-px4 -d)

@ravi It's acting like you have a mismatch in baudrate settings for the UARTs. Try setting the baudrate to 115200 for port 12 in /etc/modalai/voxl-mavlink-server.conf. In order to setup the FCv2 connect to QGC with USB and set SER_TEL1_BAUD to 115200 8N1, then reboot. Make sure you are connected to the TELEM1 connector on FCv2 and J18 on VOXL 2.

@alan123 Based on this other user's feedback (https://forum.modalai.com/topic/4403/starling-2-max-with-ublox-f9p-ultralight/2?_=1762378810994) it seems like that module isn't supported by our current PX4 build. New PX4 releases seem to support it. Not sure what the issue is with our build as we have never tried to support this module.

@Jetson-Nano Looks like you are never receiving anything FROM the AP. Only sending stuff TO it. Can you put an oscilloscope on the RX / TX UART lines to see what the traffic looks like. For some reason it doesn't seem like the UART is setup properly on either the FC or the DSP so with an oscilloscope you can better see what is going on.