@Eric-Katzfey Hi, thank you for the quick response.
I'm sorry if my message wasn't clear. I want to access VIO data, especially the data from the attitude and translational: quaternions (q), angular velocity (w), general position of the robot (x), and linear velocity (v). I was hoping to get these parameters through the MAVLINK ODOMETRY #331 parameter, but it's inaccessible through QGroundControl, or the mavlink/mavsdk (voxl-inspect-mavlink mavlink_onboard)

I ultimately aim to run an application inside the VOXL2 that subscribes to the topic, processes its information + some calculations, and delivers a command message through I2C for an external board that we developed for the control of our actuators.

I can view the data through the QORB topic (using the px4-listener command), and it is working just fine... I just don't get why I can't access this data through MAVLINK.. any suggestions? We've tried manually enabling the streaming like this mavlink stream -u 14550 -s ODOMETRY -r 10 with no avail.

I will send you some of the pictures of the errors we're getting / some of the outputs of commands.

Thanks again in advance!!

Hi everyone

We re developing a small robot with a voxl2 dev kit flight deck. We aally the imu), process it and control external inputs through a custom PCB with I2C.

Our objective is to gather info from qVIO/VIO but right now we cant read data from the sensors... we only managed to do it through uorb using listeners (px4-listener vehicle_visual_odometry) but its not efficient to develop scripts that gather info from the listeners... we were hoping to subscribe to the topics using mavlink... When we attempt to check them on qground control or like this: https://docs.modalai.com/mavlink/#debugging-with-voxl-inspect-mavlink , doesnt have odometry listed (e.g.), and several others are missing.
We already tried reconfiguring all the px4 parameters including the ekf2 and it still has the same error of missing data ... The only sensors that we are able to utilize for this project are the cameras (VIO) and px4 IMU.

I was wondering if there is any special configuration that we re missing...or just simply the px4 isnt broadcasting through mavlink some of the topics but if that is the case ... What do you guys recommend? We are quite stuck.
Thanks in advance.

@Alex-Kushleyev Thank you for the quick response Alex.

I don't necessarily need to develop my own code and flash the board, it's just the method I am familiar with working with previous uC...
But if I were to implement my sensors/pwm outputs through PX4 what would be the recommended steps to do so? Is there git libraries already available for it? If so, can I still change code snippets to operate under my conditions? or parameters in Qgroundcontrol?
Sorry if I am not clear with my questions but I'm pretty new to these types of complex architectures...

Thank you again Alex and the Modal AI team

@Alex-Kushleyev Hi. Sorry for the delay in my response.
Currently i would just like to know how do i flash the board with my code to control a simple servo motor, or the luminosity of an led... What's the best approach to do that? I can't find any information on the SDK regarding the I/O expansion board.

Later on, I would like to connect solenoid valves (On/Off) (i don't require a pwm output but that is the only I/O I have access).

Hi Modal AI Team.

I was wondering how I can connect inputs like sensors to voxl2 to read and process data. My current attempt is through m0065, the voxl2 io expander board but i dont quite get how i can flash the board to control and read the pwm channels (which i believe to be the only gpio available)..
Please let me know if this is even feasible at all.

Thanks in advance!!