@Eric-Katzfey I’m looking for the voxl-emulator Docker image referenced in the documentation:

VOXL Emulator Documentation: https://docs.modalai.com/voxl-emulator/#install-the-voxl-emulator-docker-image

However, in the Development Sources / Developer Portal there doesn’t seem to be any Docker image available for voxl-emulator.

Could you please confirm if the image is still available, or if there is an updated download location for it?

Hi everyone,

In the documentation, it mentions that there is a prebuilt simulation image/environment available for running simulated tests with the VOXL platform. However, we have not been able to find the image or download link anymore.

Could you please provide:

• The current simulation image list item
• The recommended simulation environment
• Or updated instructions/repos for running simulations

If the original image is deprecated, any updated alternative would be greatly appreciated.

Thanks in advance!

Hi everyone,
We are experiencing a critical issue with VIO stability on a VOXL2-based indoor drone platform.

Problem

When the drone starts gaining altitude, the VIO becomes unstable and the drone quickly becomes impossible to control manually. During hover close to the ground, the drone is relatively stable, but once altitude increases:

• Position estimation starts drifting
• list itemYaw estimation becomes unstable
• list itemHeight estimation errors appear
• list itemManual control becomes very difficult or impossible
• list itemPX4 eventually reports preflight or estimator failures

Current Setup
Hardware:
VOXL2
Starling 2 platform
Indoor environment
No GPS
Manual flight mode
QVIO enabled

Environment conditions:

Metallic industrial environment
Low texture surfaces
Variable lighting conditions
Errors observed

We frequently see:

Preflight Fail: height estimate not stable
Preflight Fail: Yaw estimate error
Preflight Fail: Attitude failure (pitch)

Additional Notes
We are NOT using QGroundControl during flight
The issue appears mainly when ascending
Near the ground the drone behaves much better
The instability increases progressively with altitude
It feels like VIO loses enough visual references when moving away from the floor

Questions
Is this a known limitation of QVIO / tracking camera placement?
Could this be related to insufficient floor texture?
Are there recommended tuning parameters for altitude-related instability?
Should we reduce dependency on QVIO and fuse additional sensors?
Would adding downward lighting or a ToF sensor significantly improve stability?
Is there a recommended EKF2 configuration for industrial indoor environments?