Hey @Eric-Katzfey @James-Strawson ,

Thanks a lot for helping me with the integration of my VOXL2 with Cube Orange. It is working well. I am also using it with the ToF, HighRes, and tracking camera from ModalAI.
Position hold using VIO and Semi-Autonomous (VOA) are also working well.

Now, I am facing an issue with the offboard mode. The moment I switch to offboard, the drone aggressively moves and crashes. (in both "figure_eight and "trajectory"). [In the offboard mode = "off", I am not able to switch to offboard. ]

There are no error messages in QGC or otherwise. Except offboard everything else works.
Could please help with this issue?
I'm working on this as a priority, so any suggestion will be quickly tested. I hope to hear from you.

Thank you

We have been looking out for VOXL Time of Flight (TOF) Depth Sensor from ModalAI products page to integrate with our VOXL2 board. But the sensor is currently unavailable for the critical time period.

The sensor provided is ToF Depth sensor from PMD. Could the same sensor module provided by PMD(ie. PMD Flexx2 3D Camera Sensor module) be directly integrated with VOXL2?

@Eric-Katzfey I am not able to see the option you have mentioned VOXL_ESC_T_ON

@Eric-Katzfey
This is the output i am getting while running listener manual_control_setpoint

NuttShell (NSH) NuttX-11.0.0
nsh> listener manual_control_setpoint

TOPIC: manual_control_setpoint
 manual_control_setpoint
    timestamp: 438754659 (0.033455 seconds ago)
    timestamp_sample: 438754653 (6 us before timestamp)
    roll: 0.00000
    pitch: 0.00000
    yaw: 0.00000
    throttle: 0.00000
    flaps: 0.00000
    aux1: 0.00000
    aux2: 0.00000
    aux3: 0.00000
    aux4: 0.00000
    aux5: 0.00000
    aux6: 0.00000
    buttons: 0
    valid: True
    data_source: 2
    sticks_moving: False

nsh> listener manual_control_setpoint

TOPIC: manual_control_setpoint
 manual_control_setpoint
    timestamp: 446282690 (0.039850 seconds ago)
    timestamp_sample: 446282683 (7 us before timestamp)
    roll: 0.00000
    pitch: 0.00000
    yaw: 0.00000
    throttle: 0.00000
    flaps: 0.00000
    aux1: 0.00000
    aux2: 0.00000
    aux3: 0.00000
    aux4: 0.00000
    aux5: 0.00000
    aux6: 0.00000
    buttons: 0
    valid: True
    data_source: 2
    sticks_moving: False

@Alex-Kushleyev I have already tried it, It was working fine earlier. since past 2 days the behaviour has changed, I have verified everything else and nothing else could be a reason for such behaviour , I even played around with delay to verify it, still the same issue.
please excuse me for repeating the questions but is there any other reason that can cause this issue.

Hey @Alex-Kushleyev , for the same setup I mentioned above my esc is not starting by default, while I run voxl_esc start in mavlink console, it starts and works.
what could be the reason for such behaviour. Please could you help me out

@Eric-Katzfey @Alex-Kushleyev
hey guys, just a random thought, can I enable turtle mode through a button instead of taking AUX 1 into consideration. just a thought, any guidance and help would be greatly appreciated.

@Eric-Katzfey
I tested what you asked me, since i am using external Fc and doodle labs, I am not able to assign AUX to any button, is there any work around on how to assign AUX

@Vinny @Alex-Kushleyev

Thank you for your valuable feedback on the previous version of the schematic. Based on your recommendations, I have revised the design accordingly.

Please find the updated schematic attached below for your review

In addition to the design changes, I have also revisited the hardware setup to verify the power delivery, the Lepton module is still not powering up—there is no shutter sound or I²C response. At this point, I have exhausted the immediate troubleshooting steps and would greatly appreciate your guidance on further debugging strategies.

Could you please review the updated schematic and suggest any additional tests or possible points of failure that may have been overlooked?

Thank you again for your support and expertise.

@Vinny @Alex-Kushleyev
Thank you for your invaluable feedback on the previous design. I have thoroughly reviewed your input and subsequently updated the schematic to incorporate the suggestions, specifically regarding the integration of an I2C GPIO expander. The updated schematic is attached for your review.

During recent debugging, I observed a critical issue: the Lepton module is not powering up, and no shutter sound is audible. This suggests a fundamental problem with power delivery or clocking to the module, which is currently preventing any functionality.

Concurrent to addressing this critical power-up issue, I would appreciate your expert insights on a few points concerning the updated design of the I2C GPIO expander and Lepton module interfacing:

• I2C Bus Configuration: Regarding the I2C bus, should the I2C lines be connected in parallel to both the Lepton Module and the I2C GPIO expander?

• Lepton Reset/Power Down Pins: Concerning the Lepton Module's RESET_N and POWER_DOWN_N pins, should the existing resistor-capacitor (RC) network connected to the RESET_N pin be retained, or can it be omitted?

• I2C GPIO Expander INT Pin: For the I2C GPIO expander, is it permissible to leave the INT (Interrupt) pin unconnected, or does it require termination?

• I2C GPIO Expander Software Configuration: From a software perspective, is the I2C GPIO expander a plug-and-play component, or does it require specific configuration?

Your guidance on both the immediate power-up challenge and the schematic queries would be greatly appreciated.

Thanks.

@Eric-Katzfey Thank you for the support. I will test it out and get back to you encase of any further queries.

@Alex-Kushleyev @Vinny @Eric-Katzfey @modaltb

I am currently in the process of designing a custom thermal breakout board intended for integration with the M0173 Coax Board.

As part of this configuration, I have already had the board manufactured. However, during testing, I observed that the VOXL2 Board is not recognizing the camera, and it throws the error message pinned at the top of this thread.

To ensure the design is moving in the right direction, I would like to request your feedback on the following:

-Whether the overall design approach is technically sound and compatible with the M0173 and VOXL2 systems.
-If there are any missing components or critical connections that may be causing communication or recognition issues.

I would greatly appreciate your time and expertise in reviewing the attached schematic of my breakout board.

Thanks.