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.

@psafi So which driver do you use in PX4 then? Do you have a custom driver since you modified it to use UART instead of UAVCAN?

@psafi J10 is a UART mapped to the applications processor (Linux). Most of PX4 runs on the DSP and uses UARTs mapped to the DSP. To use J10 you would have to include the driver module into the applications processor build and then start it in the start script.

@psafi Which sensor is it?

@andrevs01 But, the configuration of what Mavlink broadcasts can be different than what it actually broadcasts. It will only broadcast something that it is configured to broadcast if it is receiving data from the required topic(s) internally.

@andrevs01 No, what Mavlink broadcasts is configured separately from anything related to ROS2

@Alex-May And can you post the entire output from voxl-px4 -d?

@Alex-May It really looks like there is no communication going on between the GPS and the VOXL 2. Can you attach an oscilloscope to the rx and tx lines to look for activity? Usually the M10 units come up and start sending NMEA strings at 9600 so you would be able to detect that on the scope.

@Alex-May The driver for that magnetometer has not been built into the image so it won't work without adding that driver. As for GPS it seems like it isn't communicating with the receiver. Can you run this experiment: Stop PX4 with systemctl stop voxl-px4, wait a couple of seconds, then start px4 from the command line with voxl-px4 -d and post the output from that?

@Jetson-Nano I was using v1.14.0-8.106.1

@Alex-May Do you know what type of magnetometer is included with that module? As for GPS, the first thing to do is verify that PX4 is communicating with it. On the VOXL2 command line issue this: px4-listener sensor_gps and let's see what you get from that.