ModalAI Forum

@eric-katzfey Hello!

I modified the boards/modalai/voxl2-slpi/default.px4board file in the PX4 firmware as shown below:

CONFIG_PLATFORM_QURT=y
CONFIG_BOARD_TOOLCHAIN="qurt"
CONFIG_DRIVERS_ACTUATORS_VOXL_ESC=y
CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP101XX=y
CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L0X=y
CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L1X=y
CONFIG_DRIVERS_DISTANCE_SENSOR_MB12XX=y
CONFIG_DRIVERS_GPS=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308=y
CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
CONFIG_DRIVERS_RC_CRSF_RC=y
CONFIG_DRIVERS_QSHELL_QURT=y
CONFIG_MODULES_COMMANDER=y
CONFIG_MODULES_CONTROL_ALLOCATOR=y
CONFIG_MODULES_EKF2=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_LAND_DETECTOR=y
CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_MUORB_SLPI=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
CONFIG_SYSTEMCMDS_UORB=y
CONFIG_SYSTEMCMDS_PARAM=y
CONFIG_ORB_COMMUNICATOR=y
CONFIG_PARAM_REMOTE=y

I also added the following line to boards/modalai/voxl2/target/voxl-px4-start:

qshell mb12xx start -X -b 4

After uploading the firmware, setting SENS_EN_MB12XX to 1, and rebooting, the MB1242 I2C sonar sensor works correctly.

However, I would like to use two sonar sensors.

I changed the I2C addresses of the two MB1242 sensors to 0x70 and 0x66, respectively. However, when both sensors are connected to the I2C bus at the same time, PX4 detects only one of them.

Could you please let me know how to configure PX4 on the VOXL2 so that it can detect and use multiple MB1242 I2C sensors simultaneously? Is there any additional configuration to support more than one I2C sonar sensor?

The MB1242 sonar sensors are connected to the J19 I2C port on the VOXL2.

@Eric-Katzfey Thank you for reply!

I will try creating a custom build using the document you provided.

@Eric-Katzfey Hi!
Are there any examples, case studies, or helpful resources on modifying or adapting VOXL2 to use a different sonar sensor?

@Vinny Thank you for reply!

Unfortunately, I need to connect two cameras to the J11 port. I’m planning to connect other sensors to the J10 and J12 ports.
I will first test by connecting one camera to the J11 port, and then try using a USB hub with a 1A capacity.

Although it appears as a single line in the hardware architecture diagram, the connections to the USB hub were made individually!

@Vinny Thank you for reply!

Night Vision Camera
https://ko.aliexpress.com/item/1005007185180818.html?spm=a2g0o.order_list.order_list_main.27.5cf0140f9dDqCE&gatewayAdapt=glo2kor

LWIR Camera
https://ko.aliexpress.com/item/1005010057812282.html?spm=a2g0o.productlist.main.13.372eXTreXTreSV&algo_pvid=04aff256-3319-46cc-9450-d3d4fe12b980&algo_exp_id=04aff256-3319-46cc-9450-d3d4fe12b980-12&pdp_ext_f={"order"%3A"6"%2C"eval"%3A"1"%2C"fromPage"%3A"search"}&pdp_npi=6%40dis!KRW!506400!506400!!!2244.31!2244.31!%40212e520d17754604623953738e4267!12000050979550628!sea!KR!6191003913!X!1!0!n_tag%3A-29919%3Bd%3A33984ef5%3Bm03_new_user%3A-29895&curPageLogUid=jdYvxkDACuo3&utparam-url=scene%3Asearch|query_from%3A|x_object_id%3A1005010057812282|_p_origin_prod%3A

I connected it as shown in the attached file.

The camera was purchased from AliExpress. The Night Vision Camera has a current consumption of 0.2 A, and the LWIR camera’s current consumption is unknown (but it is expected to be low).
Even when testing with only the Night Vision Camera connected, the same issue occurred.

Hello,

I would like to use a USB camera connected to the VOXL2. My test environment is as follows:

Hardware setup:

VOXL2
VOXL 2 Ethernet and USB Hub Add-on (MDK-M0062-3-00)
USB Camera

The camera is connected via the J11 USB port on the MDK-M0062-3-00.

VOXL2 <--> VOXL 2 Ethernet and USB Hub Add-on(J11) <--> USB Camera

J11 Pin Description:

1. VBUS_PORT3 — 5V VBUS, 1A limit
2. USB1_HS_CON_D_N — Host Port USB_D-
3. USB1_HS_CON_D_P — Host Port USB_D+
4. DGND — System GND

However, when I first power on the system, the video device is recognized correctly. After about one minute, the video device disappears.

Is there any additional configuration or setup I need to perform?

@Eric-Katzfey
Thank you for your response. I would like to connect to pins 7 and 8 of J19.

7: I2C3 SDA 3.3V
8: I2C3 SCL 3.3V

I’m trying to integrate a MaxBotix MB1242 (I2C sonar) with VOXL2 and use it in PX4, but I’m running into some issues and would appreciate your guidance.

Hardware setup:

VOXL2
VOXL 2 Ethernet and USB Hub Add-on (MDK-M0062-3-00)
MaxBotix MB1242 (I2C)
Connected via VOXL2 J19 I2C port

Current situation:

voxl-rangefinder-server is disabled / not running
In QGroundControl, I cannot find the parameter SENS_EN_MBXX
As a result, PX4 does not seem to receive any rangefinder data

Questions:

Does VOXL2 currently support MaxBotix I2C sonar sensors like the MB1242 through voxl-rangefinder-server?
Is additional configuration or driver support required to enable MB12xx sensors on VOXL2?
Are there any recommended steps to make the sensor visible (e.g., enabling specific services, modifying config files, where to connect)?
Any guidance or example setups would be greatly appreciated.

Thanks in advance!