Hi Daniel, can you please clarify "Note: We have recently updated the firmware to VOXL 2 and the default RB5 firmware worked fine."?
The VOXL 2 platform image will not work properly on RB5 Flight. You need to use specific RB5 Flight software. The VOXL SDK works on both platforms, but there are low-level differences in the system image and specifically PX4 is configured differently between RB5 Flight and VOXL 2.
See this page for how to load the RB5 Flight platform image https://docs.modalai.com/Qualcomm-Flight-RB5-voxl-sdk-upgrade-guide/
