@Alex-Kushleyev
Thanks for the information. What kind of USB3 add-on will work for this?

@Alex-Kushleyev nothing detected.

I am following https://docs.modalai.com/voxl2-usb3-uart-add-on-user-guide/
I have a samsung usb storage (https://www.samsung.com/us/computing/memory-storage/usb-flash-drives/usb-3-0-flash-drive-bar-32gb-muf-32ba-muf-32ba-am/)

formatted as Ext4 . But no detected usb storage on VOXL2.
The connection is exactly the same as the example.

voxl2:/$ lsusb -t
/:  Bus 02.Port 1: Dev 1, Class=root_hub, Driver=xhci-hcd/1p, 10000M
/:  Bus 01.Port 1: Dev 1, Class=root_hub, Driver=xhci-hcd/1p, 480M

Version of VOXL2

voxl2:/$ voxl-version 
--------------------------------------------------------------------------------
system-image: 1.7.8-M0054-14.1a-perf
kernel:       #1 SMP PREEMPT Fri May 17 23:29:23 UTC 2024 4.19.125
--------------------------------------------------------------------------------
hw platform:  M0054
mach.var:     1.0.0
--------------------------------------------------------------------------------
voxl-suite:   1.3.1
--------------------------------------------------------------------------------

Any thought?

@Alex-Kushleyev

Thank you for the information. Now I understood about the parameters and numbers.

Regarding IMX214 (https://www.modalai.com/products/msu-m0025-2) + M0036 cable (https://www.modalai.com/products/m0036),
it is working without M0036 cable. (hires and tracking cameras are connected only with M0084 (https://www.modalai.com/collections/accessories/products/msu-m0084)

You are correct. The camera IS detected using voxl-camera-server -l but does not stream any images!!
I can see the detected cameras with voxl-camera-server -l,

DEBUG:   Cam idx: 0, Cam slot: 2, Slave Address: 0x00E2, Sensor Id: 0x7750
DEBUG:   Cam idx: 1, Cam slot: 3, Slave Address: 0x0020, Sensor Id: 0x0214
DEBUG:   Note: This list comes from the HAL module and may not be indicative
DEBUG:   	of configurations that have full pipelines

DEBUG:   Number of cameras: 2

Cam idx: 0 is tracking, and Cam idx: 1 is IMX214
But I cannot see the output of hires camera with M0036 cable.

|           Pipe Name |  bytes  | wide |  hgt |exp(ms)| gain | frame id |latency(ms)|  fps |  mbps  | format
|   hires_large_color |
| hires_large_encoded |
|    hires_large_grey |
|   hires_small_color |
| hires_small_encoded |
|    hires_small_grey |
|      hires_snapshot |
|        qvio_overlay |  368640 |  640 |  576 |  4.75 |   51 |    15635 |     35.0  | 30.0 |   88.5 | RAW8
|              tflite |
|            tracking |  307200 |  640 |  480 |  4.75 |   51 |    15636 |     11.6  | 30.0 |   73.7 | RAW8

Any thought?

@Alex-Kushleyev

One more question.
I found imx214 with M0036 cable is not working.
I thought it is just a cable.
I do not have any knowledge, could you please why it is not working with a cable?

Thanks in advance.

@Alex-Kushleyev
I have replaced the built-in hires camera with IMX412 camera (https://www.modalai.com/collections/all/products/msu-m0107?variant=45747768557872).
I used M0036 cable as well, and it worked.
This is my voxl-camera-server.conf for the setting

{
	"version":	0.1,
	"cameras":	[{
			"type":	"ov7251",
			"name":	"tracking",
			"enabled":	true,
			"camera_id":	0,
			"fps":	30,
			"en_rotate":	false,
			"en_preview":	true,
			"preview_width":	640,
			"preview_height":	480,
			"en_raw_preview":	true,
			"ae_mode":	"lme_msv",
			"ae_desired_msv":	60,
			"exposure_min_us":	20,
			"exposure_max_us":	33000,
			"gain_min":	54,
			"gain_max":	8000,
			"exposure_soft_min_us":	5000,
			"ae_filter_alpha":	0.600000023841858,
			"ae_ignore_fraction":	0.20000000298023224,
			"ae_slope":	0.05000000074505806,
			"ae_exposure_period":	1,
			"ae_gain_period":	1
		}, {
			"type":	"imx412",
			"name":	"hires",
			"enabled":	true,
			"camera_id":	1,
			"fps":	30,
			"en_preview":	false,
			"preview_width":	640,
			"preview_height":	480,
			"en_raw_preview":	false,
			"en_small_video":	true,
			"small_video_width":	1024,
			"small_video_height":	768,
			"small_venc_mode":	"h265",
			"small_venc_br_ctrl":	"cqp",
			"small_venc_Qfixed":	30,
			"small_venc_Qmin":	15,
			"small_venc_Qmax":	40,
			"small_venc_nPframes":	9,
			"small_venc_mbps":	2,
			"en_large_video":	true,
			"large_video_width":	4056,
			"large_video_height":	3040,
			"large_venc_mode":	"h265",
			"large_venc_br_ctrl":	"cqp",
			"large_venc_Qfixed":	38,
			"large_venc_Qmin":	15,
			"large_venc_Qmax":	50,
			"large_venc_nPframes":	29,
			"large_venc_mbps":	30,
			"en_snapshot":	true,
			"en_snapshot_width":	4056,
			"en_snapshot_height":	3040,
			"ae_mode":	"isp"
		}]
}

By the way, I have a question regarding "camera_id" in /etc/modalai/voxl-camera-server.conf.
I set up the camera with 04 - ov7251 tracking imx214 hires and can see the "camera_id" 0 for the ov7251. For imx214, "camera_id" is set as 1.
The camera connection is exactly same in the above photo (J7)

Isn't J7 port's "camera_id" 2 and 3 as described in https://docs.modalai.com/voxl2-image-sensors/#sdk-110-system-image-17x?
I would like to know what is the correct "camera_id" for the (ov7251+imx214) and (ov7251+imx412).
Also, I was wondering if the photo posted on the website was correct.

@tom
THank you for the info.
I am using VOXL2 flight deck... I never touched the PX4....

What I found just before is /etc/modalai/voxl-px4.conf
I edited DISTANCE_SENSOR=LIGHTWARE_SF000, then I was able to see PX4 parameter SENS_EN_SF0X in QGC. I set it as LW20/c..

But I cannot see the rangefinder data in QGC MAVLink Inspector...

@Eric-Katzfey
One more question,
Is there any other way to use LW20 instead of i2c?

@Eric-Katzfey
Thank you for your quick answer.
Eric, on my VOXL2 flight deck, I cannot find board folder...
Please refer to the version info of my VOXL2.

voxl2:/$ voxl-version 
--------------------------------------------------------------------------------
system-image: 1.7.1-M0054-14.1a-perf-nightly-20231025
kernel:       #1 SMP PREEMPT Thu Oct 26 03:25:38 UTC 2023 4.19.125
--------------------------------------------------------------------------------
hw platform:  M0054
mach.var:     1.0
--------------------------------------------------------------------------------
voxl-suite:   1.1.3-1
--------------------------------------------------------------------------------
Packages:
Repo:  http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-1.1/binary-arm64/
Last Updated: 2024-05-07 20:27:28

@Eric-Katzfey
I am wondering if rangefinders can be used for VOXL2.
Specifically, I have LW20/C rangefinder and tried to setup on VOXL2 by referring to https://docs.modalai.com/voxl2-D0015/. But it is not working.

One more thing is voxl-configure-rangefinders package.
https://gitlab.com/voxl-public/voxl-sdk/services/qrb5165-rangefinder-server
Can you explain what this one is for?
I tried to use it by running voxl-configure-rangefinders, it is not working..
I hope you provide the instruction to install the rangefinder on the VOXL2.

Thank you.