Posts made by ashwin

@Eric-Katzfey Hi Eric thank you for the reply, we didn't exactly try using because of the mavlinks limitation in the working and handling of UDP connection as it sends data to localhost Port 14550 so all of the drones would be sending their data to 127.0.0.1 14550 port and this would create problem for handling multiple drone with same port.

Re: Unbricking a VOXL 2 - Pass but no ADB?

I'm unable to Unbrick voxl2, following the Unbricking guide https://docs.modalai.com/voxl2-unbricking/ I'm able to select the flatbuild and flash it but in the process of flashing the console on the web based ui shows Timed out and on the bottom it shows successfully flashed.

Upon switching the QDL back to off from normal the device doesn't reflect on the usb serial when running lsusb nor does it working with adb shell.

Re: voxl-mavlink-server GCS udp port

I’m currently working on a solution to connect a fleet of drones simultaneously to our home-grown Ground Control Station (GCS). Until now, we’ve been differentiating drones using unique IP and port combinations. However, this approach is not feasible with VOXL, as it transmits data to a fixed GCS IP and a hard-coded port via voxl-mavlink-server.

I came across a related topic where modifying the port was discussed. I’d like to know if there’s a supported method to configure or override the default port settings in voxl-mavlink-server, so we can enable multiple drone connections without conflict.

Any guidance or suggestions on this would be greatly appreciated.

Hello,

I’m currently encountering an issue with my VOXL 2 board. Until yesterday, it was functioning flawlessly, and we were actively using both the board and the integrated PX4 for our application.

However, following a routine reboot, the board became unresponsive and is no longer recognized as an ADB device. Running the lsusb command lists the board to be in QDL mode, which leads me to suspect potential file system corruption.

Before proceeding with the unbricking steps outlined in ModalAI’s documentation — which I’m cautious about due to a previous unsuccessful recovery attempt (here) — I’d like to understand what might have caused this issue.

Here are some relevant details about the setup:

• The board is powered via the VOXL ESC FPV 4-in-1 with Built-in Power Module (MDK-M0138-11-01).
• The ESC is powered by a 6S2P Li-ion battery, which is also connected to 5V and 12V BECs that supply power to other components.
• When powering the VOXL 2 board directly using the standalone power module (MDK-M0041-1-01), the board’s LEDs do turn on—similar to when powered via the ESC.
• Previously, the blue LED on the ESC would blink when powering the VOXL 2 board. After the issue occurred, the blue LED no longer turns on. Note that, the LEDs do start blinking when connected to another VOXL 2 board.

I’ve thoroughly inspected the setup and confirmed there are no shorts or obvious power issues. I would sincerely appreciate any insights into what might have caused this corruption and how to prevent it in the future.

Regards,
Ashwin

Hello @Alex-Kushleyev @Eric-Katzfey

I am looking to control the servo via PX4.
Essentially, it will be a command either from the RC or GCS to open / close the servo motor.

But, if that is infeasible, I can make it work via an API on the CPU / Linux on VOXL 2 to be controlled via SSH.

Regards,
Ashwin

Hello @Nathan-Raras ,

I apologize for missing your response.

I understand that it has been quite a while.
May I ask where can I locate the requested path?
'''
modal-qdl/qdl/qfil_app/src/data/qfil/cdt
'''

As I understand it, this path is present on VOXL, but I am not able to access VOXL at all.

Regards,
Ashwin

Hello,

Can someone kindly respond to this query?

Regards,
Ashwin

@tom Thanks for the quick response.
This board seems like a good option.

May I know the weight for this board, as the documentation just says X grams.

Regards,
Ashwin

Hello,

I am currently exploring the development of an FPV system and would like to integrate a compact microphone for audio capture.

Could you please advise if there are any available ports on the VOXL 2 that would support this functionality? Additionally, I would appreciate any recommendations for miniature microphones that are compatible with the VOXL 2 platform.

Looking forward to your guidance.

Regards,
Ashwin

Hello,

I am currently working on a project involving the VOXL 2 platform and would like to control a servo motor within my existing system architecture. Below is a summary of the current configuration:

• RC, GPS, and Magnetometer are connected to the J19 port.
• An FPV ESC is connected to the J18 port.
• The M0151 expansion board is connected to a Doodle Labs module.

I am considering two possible approaches for integrating servo motor control:

• Using the IO Expansion Board via a free UART Port on the M0151 Board
  I plan to connect the IO Expansion Board to an available UART port on the M0151. I would like to confirm whether this setup would support reliable servo motor control.

• Connecting the IO Expansion Board to J19 and connecting receiver to J2 terminal of IO Expansion Board

Could you please advise on the feasibility and potential limitations of both configurations? I would appreciate any insights or recommendations you may have.

Please feel free to reach out if any further clarification is needed.

Regards,
Ashwin

@Eric-Katzfey I attempted to access the Hexagon SDK 4.x via the Qualcomm Software Center but encountered the same licensing and access issues. The VOXL2 device I'm working with was purchased from ModalAI. Given that it's part of a development kit, is the SDK license provided through ModalAI, or does it need to be obtained separately through Qualcomm? Some clarification regarding this would be helpful.

I want a flash a custom px4 firmware on VOXL2. I am following the instructions given here : https://gitlab.com/voxl-public/voxl-sdk/services/voxl-px4/-/blob/020daa00a68e353a2116060c990c28718c4d7c21/README.md, which led me here: https://gitlab.com/voxl-public/rb5-flight/rb5-flight-px4-build-docker/-/blob/1e1baf9c45bf108331ac4e9857c04768ea7097ca/README.md. So I need to install qualcomm package manager. All the links lead me to qpm3. I installed it and successfully logged in. The hexagon sdk 4.x is not available on the site. Instead, I got this: https://www.qualcomm.com/developer/software/hexagon-npu-sdk. None of the "sign agreement" links work. trying to install hexagon sdk 4.x on qpm3 causes it to say that i have no license. Here are the outputs of the commands I ran:

 qpm-cli --license-activate hexagonsdk4.x

[Info] : Activating license : hexagonsdk4.x
[Error] : License activation failed. Error: Error Getting LicenseIDs

 qpm-cli --install hexagonsdk4.x

[Error] : License check failed.
[Error] : Valid license is required for download. Please activate license first using command: qpm-cli --license-activate hexagonsdk4.x
[Error] : Failed downloading latest package of hexagonsdk4.x

In general, if someone has flashed a custom px4 firmware on VOXL2, could you guide or help me towards correct resources?

I am using Voxl2 with a QRB5165 processor, and ubuntu linux on my pc.

Hello @tom ,

Just following up on this.
Is there any potential way to revive the board?

Regards,
Ashwin

Hello,

We are developing a quadcopter using VOXL ESC Mini 4-in-1 [M0129] with VOXL2 board.
We are using GEPRC SPEEDX2 1303.5 3800KV/5500KV Motor with a 2S battery.

We are facing issues with the motors running with the ESC.
One of the motors is not spinning even after throttling up. The pilot has to manually spin the propellers for it to start spinning. The ESC firmware is set by the VOXL automatically when voxl-configure-sku is run. Using a 4S battery helps, but we are limited to using a 2S battery.

voxl2:/$ voxl-inspect-sku

family code:   MRB-D0014 (starling-2)
compute board: 4 (voxl2)
hw version:    1
cam config:    27
modem config:  18 (Doodle RM-2450, 2.4GHz)
tx config:     6 (tbs_crossfire)
extras config: 8 (Lepton)
SKU:           MRB-D0014-4-V1-C27-T6-M18-X8

I wanted to understand if your team have worked with these motors.
In either case, would you be able to assist with understanding the motor behavior and debugging the same.

Regards,
Ashwin

Hello @tom,

Kindly find the outputs received shown in the images below.

UFS Provisioning is successful as shown in the attached image.

The output message is shown at the end.

Flashing CDT failed - Try 1

Flashing CDT failed - Try 2

UFS Provisioning Output

modal hello
[MODALAI] test log

[MODALAI] Executing usb_open
[MODALAI] Completed usb_open
[MODALAI] Executing sahara_run
HELLO version: 0x2 compatible: 0x1 max_len: 1024 mode: 0
READ64 image: 13 offset: 0x0 length: 0x40
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READ64 image: 13 offset: 0x63000 length: 0xde0
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READ64 image: 13 offset: 0x7e1d0 length: 0x1000
READ64 image: 13 offset: 0x7f1d0 length: 0xf6c
READ64 image: 13 offset: 0x80140 length: 0x84
READ64 image: 13 offset: 0x801c4 length: 0x1000
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READ64 image: 13 offset: 0x821c4 length: 0x1000
READ64 image: 13 offset: 0x831c4 length: 0x1000
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READ64 image: 13 offset: 0x891c4 length: 0x55c
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END OF IMAGE image: 13 status: 0
DONE status: 1
[MODALAI] Completed sahara_run
[MODALAI] Executing firehose_run
[MODALAI] Executing firehose_read
LOG: INFO: Binary build date: Mar  6 2020 @ 17:34:12
LOG: INFO: Binary build date: Mar  6 2020 @ 17:34:12
LOG: INFO: Chip serial num: 4118209451 (0xf576e3ab)
LOG: INFO: Supported Functions (15):
LOG: INFO: program
LOG: INFO: read
LOG: INFO: nop
LOG: INFO: patch
LOG: INFO: configure
LOG: INFO: setbootablestoragedrive
LOG: INFO: erase
LOG: INFO: power
LOG: INFO: firmwarewrite
LOG: INFO: getstorageinfo
LOG: INFO: benchmark
LOG: INFO: emmc
LOG: INFO: ufs
LOG: INFO: fixgpt
LOG: INFO: getsha256digest
LOG: INFO: End of supported functions 15
[MODALAI] Completed firehose_read
[MODALAI] Executing ufs_need_provisioning
[MODALAI] Turns out ufs needs provisioning
[MODALAI] <ufs_prov> executing firehose_configure
LOG: INFO: Calling handler for configure
LOG: INFO: Storage type set to value UFS
LOG: DEBUG: Calling usb_al_bulk_set_zlp_mode(TRUE), zlp is not set to 0
[MODALAI] <ufs_prov> finished firehose_configure
[MODALAI] <ufs_prov> executing ufs_provisioning_execute
LOG: INFO: Calling handler for ufs
LOG: DEBUG: Can't decode attribute slot with value
LOG: DEBUG: Can't decode attribute physical_partition_number with value
LOG: DEBUG: Can't decode attribute LUNum with value
LOG: DEBUG: Can't decode attribute qVendorConfigCode with value
LOG: DEBUG: Can't decode attribute commit with value
LOG: INFO: Calling handler for ufs
LOG: DEBUG: Can't decode attribute slot with value
LOG: DEBUG: Can't decode attribute physical_partition_number with value
LOG: DEBUG: Can't decode attribute commit with value
LOG: INFO: Calling handler for ufs
LOG: DEBUG: Can't decode attribute slot with value
LOG: DEBUG: Can't decode attribute physical_partition_number with value
LOG: DEBUG: Can't decode attribute commit with value
LOG: INFO: Calling handler for ufs
LOG: DEBUG: Can't decode attribute slot with value
LOG: DEBUG: Can't decode attribute physical_partition_number with value
LOG: DEBUG: Can't decode attribute commit with value
LOG: INFO: Calling handler for ufs
LOG: DEBUG: Can't decode attribute slot with value
LOG: DEBUG: Can't decode attribute physical_partition_number with value
LOG: DEBUG: Can't decode attribute commit with value
LOG: INFO: Calling handler for ufs
LOG: DEBUG: Can't decode attribute slot with value
LOG: DEBUG: Can't decode attribute physical_partition_number with value
LOG: DEBUG: Can't decode attribute commit with value
LOG: INFO: Calling handler for ufs
LOG: DEBUG: Can't decode attribute slot with value
LOG: DEBUG: Can't decode attribute physical_partition_number with value
LOG: DEBUG: Can't decode attribute commit with value
LOG: INFO: Calling handler for ufs
LOG: DEBUG: Can't decode attribute slot with value
LOG: DEBUG: Can't decode attribute physical_partition_number with value
LOG: DEBUG: Can't decode attribute commit with value
LOG: INFO: Calling handler for ufs
LOG: DEBUG: Can't decode attribute slot with value
LOG: DEBUG: Can't decode attribute physical_partition_number with value
LOG: DEBUG: Can't decode attribute commit with value
LOG: INFO: Calling handler for ufs
LOG: DEBUG: Can't decode attribute slot with value
LOG: DEBUG: Can't decode attribute physical_partition_number with value
LOG: DEBUG: Can't decode attribute LUNum with value
LOG: DEBUG: Can't decode attribute bBootEnable with value
LOG: DEBUG: Can't decode attribute bDescrAccessEn with value
LOG: DEBUG: Can't decode attribute bInitPowerMode with value
LOG: DEBUG: Can't decode attribute bHighPriorityLUN with value
LOG: DEBUG: Can't decode attribute bSecureRemovalType with value
LOG: DEBUG: Can't decode attribute bInitActiveICCLevel with value
LOG: DEBUG: Can't decode attribute wPeriodicRTCUpdate with value
LOG: DEBUG: Can't decode attribute bWriteBoosterBufferPreserveUserSpaceEn with value
LOG: DEBUG: Can't decode attribute bWriteBoosterBufferType with value
LOG: DEBUG: Can't decode attribute shared_wb_buffer_size_in_kb with value
LOG: DEBUG: Can't decode attribute bConfigDescrLock with value
LOG: DEBUG: Can't decode attribute qVendorConfigCode with value
UFS provisioning succeeded
[MODALAI] <ufs_prov> finished ufs_provisioning_execute
[MODALAI] executing firehose_reset
LOG: INFO: Calling handler for power
LOG: DEBUG: Can't decode attribute DelayInSeconds with value
LOG: INFO: Will issue reset/power off 100 useconds, if this hangs check if watchdog is enabled
LOG: INFO: bsp_target_reset() 1
[MODALAI] finished firehose_reset
[MODALAI] Completed firehose_run


UFS provisioning succeeded, please reset power to the device

Hello @Alex-Kushleyev,

Thank you for the confirmation.
It has helped us decide upon the architecture for the current and an upcoming project.
The suggested M0141 add-on is really helpful suggestion as well.

Regards,
Ashwin

@Alex-Kushleyev

I found a post on the forum stating that there is a library, namely libqrb5165_io, that can be used to access the port in the AP if I am not using PX4 (https://forum.modalai.com/topic/2916/j19-uart-port-mapping?_=1741378878682).

Is this still valid?
This is just an alternate in case we are not able to figure out any other means to read all the camera sensors into the DSP.

Regards,
Ashwin

Hello @Alex-Kushleyev ,

No, the TOFs were supposed to be read into the main DSP to process the data to understand the drone surroundings.
I was not aware that the I2C is only accessible from PX4.

Is there a potential alternate port that can be used for the same?
How about using the SPI port (J10)?

Regards,
Ashwin

@tom The output is exactly the same irrespective of whether the SW2 is ON or OFF.

[Mar 7 14:29] usb 1-9: new high-speed USB device number 6 using xhci_hcd
[  +0.129038] usb 1-9: New USB device found, idVendor=05c6, idProduct=9008, bcdDevice= 0.00
[  +0.000013] usb 1-9: New USB device strings: Mfr=1, Product=2, SerialNumber=0
[  +0.000004] usb 1-9: Product: QUSB_BULK_CID:0412_SN:F576E3AB
[  +0.000004] usb 1-9: Manufacturer: Qualcomm CDMA Technologies MSM
[  +0.029109] usbcore: registered new interface driver usbserial_generic
[  +0.000028] usbserial: USB Serial support registered for generic
[  +0.004709] usbcore: registered new interface driver qcserial
[  +0.000024] usbserial: USB Serial support registered for Qualcomm USB modem
[  +0.000023] qcserial 1-9:1.0: Qualcomm USB modem converter detected
[  +0.000180] usb 1-9: Qualcomm USB modem converter now attached to ttyUSB0

@tom Kindly find the terminal output below

[Mar 6 11:08] usb 1-9: new high-speed USB device number 6 using xhci_hcd
[  +0.130213] usb 1-9: New USB device found, idVendor=05c6, idProduct=9008, bcdDevice= 0.00
[  +0.000016] usb 1-9: New USB device strings: Mfr=1, Product=2, SerialNumber=0
[  +0.000005] usb 1-9: Product: QUSB_BULK_CID:0412_SN:F576E3AB
[  +0.000004] usb 1-9: Manufacturer: Qualcomm CDMA Technologies MSM
[  +0.031088] usbcore: registered new interface driver usbserial_generic
[  +0.000035] usbserial: USB Serial support registered for generic
[  +0.003699] usbcore: registered new interface driver qcserial
[  +0.000025] usbserial: USB Serial support registered for Qualcomm USB modem
[  +0.000026] qcserial 1-9:1.0: Qualcomm USB modem converter detected
[  +0.000175] usb 1-9: Qualcomm USB modem converter now attached to ttyUSB0