For additional context, here is our voxl-streamer.conf:

{
  "input-pipe":  "hires_front_small_encoded",
  "bitrate":  1000000,
  "rotation":  0,
  "decimator":  1,
  "port":  8900
}

My team is looking into ways to minimize bandwidth and latency while streaming video from multiple Starling Max drones over 4G+VPN. In one of our tests, we disabled all but one pipe in voxl-camera-server.conf for the hires_front camera, and disabled all for the hires_down:

"en_preview": false,
"en_small_video": true,
"en_large_video": false,
"en_snapshot": false,

According to these docs, streams are not activated until a client connects, but disabling these other pipes seemed to have made a significant improvement in stream quality.
https://docs.modalai.com/voxl-camera-server/#hal3-streams

Can someone please confirm: if all pipes are enabled, and a client connects to a specific pipe (e.g. small video only), are all streams then activated? Any tips or suggestions to optimize bandwidth and reduce onboard overhead are appreciated!

@Eric-Katzfey thanks for the quick reply. Since 14550 is hard-coded into voxl-mavlink-server service, that answers my question re: customizing this port.

For additional context, I'm interested in replicating QGC's behavior of connecting to multiple UAVs simultaneously, each identified by their MAV_SYS_ID. As an example:

1. Set MAV_SYS_ID to "42" on one VOXL
2. Leave MAV_SYS_ID as "1" on another VOXL
3. Set secondary_static_gcs_ip to your GCS IP on both (/etc/modalai/voxl-mavlink-server.conf)
4. QGC automatically connects to both and shows "Vehicle 42" and "Vehicle 1" in the dropdown in the top menu bar

I'm able to connect to my UAV using mavsdk at udp://:14550 but I can't tell which one connects since both are sending telemetry to my Mac's 14550.

Since posting this, I discovered https://github.com/mavlink-router/mavlink-router which may be what I'm looking for, but I'm still trying to get it working with my docker-compose setup. I was just wondering if there was a simpler configuration onboard the VOXL that I could easily change.

Hi, we're trying to do something very similar to this post and connect the VOXL2 Mini to a LTE Modem v2 Pro.

We connected the J3 on the VOXL 2 mini to the standalone USB host on J7 on the LTE Modem, and are using the standalone power on J4 of the LTE Modem to supply voltage. We can verify with voltimeter and led lights that power is going to the LTE Modem, but we don't see any indication of data transfer or detection of the Sierra device or other USB devices on the LTE Modem.

Can you verify that this wiring is correct when using LTE Modem v2 Pro with the VOXL2 Mini. If it is correct, is there some other piece we might be missing, like configuration changes we might need to make to get data flowing between these 2 components?

I'm trying to send telemetry data from multiple VOXL 2 drones to a single GCS IP.

Is there a way to set a custom UDP port for secondary_static_gcs_ip (other than 14550) on each individual VOXL 2 drone so I can guarantee which drone is connecting? Essentially something like:

• drone 1 (MAV_SYS_ID = 1): drone.connect(system_address="udp://:14551")
• drone 2 (MAV_SYS_ID = 2): drone.connect(system_address="udp://:14552")
• drone 3 (MAV_SYS_ID = 3): drone.connect(system_address="udp://:14553")
• etc.

I'm able to view multiple unique drones in QGroundControl, uniquely identified by setting a unique MAV_SYS_ID on each drone first. However, I'm trying to connect using mavsdk now instead, but I haven't had any luck using the sysid arg, so it's always a random gamble on which drone actually connects when I try system address of udp://:14550.