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?

@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.

@Eric-Katzfey yes , I am using the QGC to map joystick buttons. I am using the voxl-fpv-dev version from the modalai px4 repo. I am using the FPV 4-in-1 ESC. I am not able to get more than 2 toggle switches and also not able to assign them two way.

Hey @Alex-Kushleyev @Eric-Katzfey @Chad-Sweet
I had a query about setting up joystick with doodle labs. I am not able to setup the joystick properly, not every buttons and toggle is working. AUX channels for Turtle mode or toggle for changing modes.

my setup is

• voxl 2 to Fc v2 to ESC
• doodle labs nano to voxl 2

@Alex-Kushleyev @Eric-Katzfey @modaltb
guys any help with solving this issue.
this the video feed I am getting.

voxl2:~$ voxl-lepton-server 
=================================================================
spi_bus:         0
spi_speed:       16000000
en_i2c:          1
i2c_bus:         4
shutter_mode:    manual
flow_shutter_s:  20
closePeriodInFramesInAir:         0
openPeriodInFramesInAir:          1
desiredFfcPeriodMsInAir:          360000
desiredFfcTempDeltaCentiDegInAir: 600
assign_cpu_num:  7
en_timing_msg:   0
en_rotate:       1
=================================================================
existing instance of voxl-lepton-server found, attempting to stop it
thread is now locked to the following cores: 7
attempting to init the io expander
Attempting intitialization for M0188 (TCA9543A)
ERROR: in voxl_i2c_read_bytes, failed to write to bus
io_expander_init, failed to read TCA9543APWR control register
If you are not using an M0188 lepton board then this is expected
Attempting intitialization for M0187 (PI4IO)
ERROR: in voxl_i2c_read_bytes, failed to write to bus
io_expander_init, failed to read from io expander
If you are not using an M0187 lepton board then this is expected
attempting to open I2C CCI
trying address 0x2a
successfully opened I2C port
Successfully connected to I2C CCI
waiting for first frame from lepton to create MPA pipes
creating MPA server pipes
enabling MPA control interface
client "voxl-portal78592109" connected to channel 0  with client id 0
client "voxl-portal64940239" connected to channel 1  with client id 0

@Cliff-Wong @Kessie
Guys can you help me out here.

@Alex-Kushleyev hey , I just had query , when i am using the groupgets thermal breakout board , the video is delay in the video feed. it is not ideal. it is a parameter error or the thermal board issue. is there any thermal camera board which will give me good and clear video stream

@Cliff-Wong @Kessie

I am facing the same error with voxl-open-vins. As soon as I arm the drone, the position is loosing, the drone is drifting , the vio values are drifting. I checked the changes you guys recommended above, it worsened the speed and the drift. when i went to the initial values, the drift was slow and less, still drift was present.
Could anyone help me with this problem, how to achieve a better VIO values and no drift in an ideal condition.