@Alex-Kushleyev Thank you, it works!

@Alex-Kushleyev Hi!

My team and I are working with both voxl1 and voxl2 based platforms. We used your example and changed it to publish a ros topic (Image) to pipe on voxl2. It works great. Now we try to do the same on voxl1 (compiling the same code to ipk) and encounter the problem:

Traceback (most recent call last):
  File "ros_img_mpa_pub.py", line 19, in <module>
    from pympa import *
  File "/usr/share/modalai/voxl-mpa-tools/pympa.py", line 23, in <module>
    pympa = ct.CDLL("libpympa.so")
  File "/usr/lib/python3.6/ctypes/__init__.py", line 348, in __init__
    self._handle = _dlopen(self._name, mode)
OSError: libpympa.so: wrong ELF class: ELFCLASS64

Is there any other branch that may be suitable for voxl1 to our purpose?

Thank you, Meytal

Hi @tom , here is my /etc/modalai/voxl-px4.conf:

#!/bin/bash
#
# voxl-px4 Configuration File    
#    
# GPS:    
#     Tell PX4 which GPS to use. If there is no GPS unit use NONE. Otherwise    
#     choose AUTODETECT and the startup script will attempt to automatically    
#     configure the GPS, magnetometer, and status LED    
#     Options include: [NONE, AUTODETECT]    
#    
# RC:    
#     Tell PX4 which RC transmitter to use.     
#     Use EXTERNAL when getting RC control from external Mavlink messages (e.g Via QGC)    
#     Options include: [SPEKTRUM, CRSF_MAV, CRSF_RAW, M0065_SBUS, EXTERNAL, FAKE_RC_INPUT]    
#    
# ESC:    
#     Tell PX4 which type of ESC to use.     
#     Options include: [VOXL_ESC, VOXL2_IO_PWM_ESC]    
#    
# POWER_MANAGER:    
#     Tell PX4 which power manager to use.     
#     Use NONE for ModalAI Mini-ESC since the ESC driver handles PM.    
#     Use EXTERNAL when not using the ModalAI APM power manager to power the board    
#       This also just disables the voxlpm driver, same as the NONE option    
#     Options include: [VOXLPM, EXTERNAL, NONE]    
#    
# DISTANCE_SENSOR:    
#     Tell PX4 which distance sensor peripheral to use. 	
#     Note: The sensor will be started on the RC port so it is only	
#           really possible to use it when using external RC.    
#     Options include: [NONE, LIGHTWARE_SF000]    
#    
# OSD:    
#     Tell PX4 whether to enable OSD (on-screen display).     
#     Options include: [ENABLE, DISABLE]    
#    
# DAEMON_MODE:    
#     Tell PX4 whether to enable daemon mode.     
#     Options include: [ENABLE, DISABLE]    
#    
# SENSOR_CAL:    
#     Tell PX4 where to source sensor calibration information.     
#     Options include: [ACTUAL, FAKE]    
#    
# ARTIFACT_MODE:    
#     Do not allow artifacts to be saved to disk. Will not start the logging     
#     module, will delete any current log files, and will delete the data manager file.     
#     Options include: [ENABLE, DISABLE]    
#    
# EXTRA_STEPS:    
#     Optional field that allows a user to define custom commands to be run by PX4 on boot.     
#     Must be a valid bash array as seen below     
#     Example: EXTRA_STEPS=( "qshell gps start" "qshell commander mode manual" )     
#    
#
GPS=AUTODETECT
RC=GHST
ESC=VOXL_ESC
POWER_MANAGER=VOXLPM
DISTANCE_SENSOR=NONE
OSD=DISABLE
DAEMON_MODE=ENABLE
SENSOR_CAL=ACTUAL
ARTIFACT_MODE=DISABLE
EXTRA_STEPS=()

Hi @Alex-Kushleyev, (I am from the same team as John's)

Our VOXL2 SDK is "voxl-suite 1.3.1".
We did try to connect the cable that goes into the sensor to another "taoglas CGGBP 18.4.A.02" and recieved GPS messages.
Our Starling2 came out of the box like that, should we change the sensor's configuration or is it a hardware malfunction?

Thank you!