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

Hey @Alex-Kushleyev @Eric-Katzfey @tom

I'm using a VOXL2 compute along with Flight Core V2 as external flight controller.

PX4 version: v1.15.1 (Stable)

The VOXL2 communicates with FC as mentioned in this documentation.

For position hold I have set EV parameter using tracking camera fusing with a Optical Flow with Rangefinder onboard. I'm able to see the odometry message being shown in mavlink console on QGC. Also, I try streaming the message from VOXL2,

mavlink stream -r 30 -s ODOMETRY -d /dev/ttyS1

In voxl-vision-hub I have set the mode to figure_eight. But once, I switch to offboard mode from position mode the drone stays at the same place and does not perform figure 8.

Once I ssh into VOXL2, and check for mavlink status, I get the LOCAL_POSITION_NED but not #331 ODOMETRY message. How can I get that message?

Without that message I'm not sure if VIO inputs from tracking camera would be passed on to FC for fusion on switching to offboard mode of flight.

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?

Hey @Alex-Kushleyev @Eric-Katzfey
I just wanted to know whether it is possible to stream multiple RTSP streaming from the VOXL 2 board, using the same ip but different port number and name.
Should I create a copy server of voxl-streamer to achieve this, or is there any direct option already available.

@Eric-Katzfey Thank you for reverting back, I am able to get the turtle mode working now, The error was due to the safety parameters, once i changed it to the FPV setup, it was working.

Once again thank you for the support. It was really helpful.

Hey @Eric-Katzfey ,
sorry for the late reply, I tested it out by keeping the drone straight and enabling turtle mode, it is working. I should also press both the turtle mode button and arm button together to get it working.
The major issue still is there, When i try to arm the system by keeping it facing down or in an angle, the drone is not accepting the command and is not arming.
I am attaching screenshot for your reference.
Please help me out here. I am using the px4 firmware version 1.14.0 dev 8.104.4
Since it is working when I keep it straight and arm, I feel there is something wrong in the logic somewhere or in the parameters.

@Eric-Katzfey
Thank you for reverting back, I will check these out and get back to you. Also I will flash the FC once more and see if I have any luck.
I would like to know which is the version of PX4 you are using.

@Eric-Katzfey
I followed the steps you suggested, i am attaching the Screenshots. I tried what you suggested the result is still the same, I am not able to arm the system. I tried with various options for VOXL_ESC_MODE, still the same.

I clicked the assigned button here, AUX 1 values are changing but only when i keep the voxl_ESC_MODE to UART passthorugh

@Eric-Katzfey could you please help me out here

@Vinny

Thank you so much for your feedback — it’s very valuable to us. I will definitely review and address the suggestions you have mentioned.

Thank you for your continued support.

Hello @Vinny,

Hi Vinny,

Thank you again for your valuable feedback on the schematics and layout.

Apologies for not sending the updated files — the issues you pointed out were caused by that omission. I have now incorporated your suggestions and attached the updated schematics for your reference. I will also update the capacitor values to 1 µF as discussed.

Could you please review the attached schematics and let me know if any further changes are required?

Thanks very much for your continued support.

@Eric-Katzfey I am not able to setup multiple buttons, it is only showing one option of button 1.
Also after assigning the button one and trying to enable and use turtle mode, it is not working.
Is there any particular version of px4 that this works with.
My setup is VOXL 2 ---> TELEM 1 --> Flight core v2 --> TELEM 2 --> FPV ESC
In normal setup the motors are working and rotating, but when I try to keep the drone upside down and enable the turtle mode , the QGC is still showing not ready message. Also I am not able to ARM because of this.
Is there anything I am missing out?

@Eric-Katzfey I am using VOXL 2 to Flight Core v2 to VOXL FPV ESC, will this change affect any performance of the flight or any other abilities.