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?

Hello @modaltb @Eric-Katzfey @Alex-Kushleyev
I am trying to send a trigger message from voxl-tflite server to voxl-mapper server.
Once the object is detected an trigger message will be received and identified by the voxl-mapper and a custom marker will be placed in the position.

1. I would like to know how to send a trigger and how to accept the incoming data in voxl-mapper.
2. Also where to place the custom marker code, so that it will be mirrored in the 3-D map in the portal.

thank you

@Alex-Kushleyev @Eric-Katzfey
can you check the above mentioned error.

@Eric-Katzfey thank you for sharing the data.
I tried flashing the voxl-io-server you mentioned, but I got the following error.

t@t-MS-7B29:~/git/voxl-io-server-master$ ./deploy_to_voxl.sh
searching for ADB device
checking VOXL for dpkg/opkg
dpkg detected
voxl-io-server_0.0.5-202502191136_arm64.deb: 1 file pushed. 2.1 MB/s (25928 bytes in 0.012s)
dpkg: considering removing voxl-neopixel-manager in favour of voxl-io-server ...
dpkg: warning: ignoring dependency problem with removal of voxl-neopixel-manager:
 voxl-suite depends on voxl-neopixel-manager (>= 0.0.3)
  voxl-neopixel-manager is to be removed.

dpkg: yes, will remove voxl-neopixel-manager in favour of voxl-io-server
dpkg: regarding .../voxl-io-server_0.0.5-202502191136_arm64.deb containing voxl-io-server:
 voxl-io-server conflicts with voxl-mpa-tools (<= 1.2.3)
  voxl-mpa-tools (version 1.2.3) is present and installed.

dpkg: error processing archive /data/voxl-io-server_0.0.5-202502191136_arm64.deb (--install):
 conflicting packages - not installing voxl-io-server
Errors were encountered while processing:
 /data/voxl-io-server_0.0.5-202502191136_arm64.deb
DONE

@Alex-Kushleyev can you check this out

@Alex-Kushleyev , I tested the turtle mode out and it is working fine.

Once the approach for LEDs are shared, I will test it out .

I had an additional query, while we are using Telem for FCV2 and ESC communication. Will the PWM output (8 pinout) still be transmission and can we access the data.

@Alex-Kushleyev I have not tested turtle mode with Voxl2 - FCV2 setup. I have tested with the Voxl2, internal PX4 server.
I will test it out and get back to you.

@Alex-Kushleyev Thanks for the help. I will also test it out and get back with the results as soon as the approach is shared.
Can you also help me with finding clarity whether turtle mode will be affected by this setup.

@Alex-Kushleyev
just a thought, the data from Voxl2 is transfered to FC. so you can convert them to specific msg type and forward it to external FC and External FC already has modal-io-bridge, it can forward the data to ESC. There will be need of conversion of msg types multiple places, for handling and forwarding.
the External Fc has turtle mode running on it, will it setup affect it.

@Alex-Kushleyev ,
Thanks for the clarity, I also went through the same process and was not able to find any way to forward the message to ESC through external FC.
If you could help with a work around this approach it will be really helpful. I can test it out and get back to you.

@Alex-Kushleyev thanks again. can you check this out.
As mentioned the messages needs to be converted to mavlink message. Will mavlink message be handled by VOXL-ESC and will it trigger the voxl-send-neopixel-cmd and turn on the LEDs? I guess multiple conversion of message types might be required.

Also there is voxl-io driver link running in the VOXL FCV2. It should help voxl FCV2 to handle the data from VOXL2 and pass it to the VOXL FPV ESC.

There are 2 PWM outputs link that are independent, can we send a trigger message from VOXL2 Board to the VOXL FCV2 and FC will send the message to VOXL FPV ESC and give PWM output. Using the voxl-send-pwm-cmd command.

@Alex-Kushleyev Thank you for reverting. I tested it out and the ESC is powered. The TELEM1 port is connected to VOXL2 board and TELEM2 port to the Flight Core FCv2 board. I used the PX4 firmware modalai_fc-v2_1.14.0-8.93.1.px4 from the ModalAI build and setup the necessary parameters following documentation. The VOXL ESC is recognising the data from FC autopilot and the LED blinking sequence starts.

I have few more queries,
In the coming days I'll be upgrading to VOXL-FPV ESC. Can I follow the same wiring setup for this as well?

I had an additional query link, you had mentioned not able to run any python tool files, but since voxl-send-neopixel-cmd is in C/C++, it should be working.

Also, will this setup affect the turtle mode implementation.