I tried another way to implement this. Currently my flight core is disconnected to the VOXL. I use my laptop as the companion computer, and then I add a ESP Wifi module to Flight Core TELEM1, so my laptop will get the motion capture pose by using vrpn_client_ros, the mavros will transfer the motion capture pose to mavlink data and then send to flight core.

In this case, my EKF2 will converge. The new issue is that the modalAI cannot hover at it's height on flight mode or hold mode, and the modalAI will drift. Also, the mavros terminal will show:"RTT too high for timesync: 78 ms". I am not sure if this is the reason that the modalAI will drifting in position mode.

Any suggestion?

As shown in the following figure, what is the name of the J1 connector? what's the right way to unplug it? I tried to unplug it and it seems very hard to unplug it, so I didn't continue to do that since I don't want to break it.
MCBL-00007 VOXL to Flight Core/VOXL ESC Serial Cable

Hi, is it possible that I buy a Wifi module and connect it to the Telem2 port in flight core so that the QGC in my laptop can communicate with PX4 through this Wifi? and in this case, my laptop will work as the companion computer instead of the VOXL.

@Chad-Sweet Yeah. I tried the following command

voxl-configure-opkg

and

opkg update

and then try to restart the voxl-vision-px4 and it seems nothing helps.

Since I can connect to voxl through wifi and adb, I have no idea why voxl will broken since I treat it very carefully. Indeed sometimes this QGC disconnection issue happens randomly. Could I mail back the Flight Core and VOXL to you and would you mind helping me check what is the issue?

@Chad-Sweet I tried to follow your advice and it shows

voxl:~$ voxl-px4-shell
ERROR opening /run/mpa/vvpx4_shell/
most likely the voxl-vision-px4 service is not running

I also tried to run

systemctl restart voxl-vision-px4

and

voxl-vision-px4 status

and it shows

voxl:~$ voxl-vision-px4 status
loading our own config file
=================================================================
Parameters as loaded from config file:
qgc_ip:                     192.168.0.121
en_localhost_mavlink_udp    1
en_secondary_qgc:           0
secondary_qgc_ip:           192.168.1.214
qgc_udp_port_number:        14550
localhost_udp_port_number:  14551
udp_mtu:                    512
en_vio:                     1
en_voa:                     1
en_send_vio_to_qgc:         0
en_send_voa_to_qgc:         0
en_set_clock_from_gps:      1
en_force_onboard_mav1_mode: 1
en_reset_px4_on_error:      1
qvio_auto_reset_quality:    0.000500
horizon_cal_tolerance:      0.300000
voa_upper_bound_m:          1.250000
voa_lower_bound_m:          1.250000
en_adsb:                    0
adsb_uart_bus:              7
adsb_uart_baudrate:         57600
px4_uart_bus:               5
px4_uart_baudrate:          921600
offboard_mode:              off
follow_tag_id:              0
en_tag_fixed_frame:         0
fixed_frame_filter_len:     5
en_transform_mavlink_pos_setpoints_from_fixed_frame:0
=================================================================
loading extrinsics config file
starting geometry module
starting px4 monitor
starting uart mavlink
Successfully opened mavparser
starting udp mavlink
Adding manual QGC IP address to udp connection list: 192.168.0.121
Added new UDP connection to 192.168.0.121
starting px4 shell
starting fixed pose input
starting vio manager
starting tag manager
starting voa manager
starting control input pipe
Init complete, entering main loop
Connected to voxl-qvio-server
updating to use imu: imu0
done updating transforms to use imu: imu0
Connected to voxl-tag-detector
Connected to voxl-dfs-server
WARNING PX4 DISCONNECTED FROM UART

any suggestion?

@mohammednaveed Hi, have you solved your issue? Do you know where the issue is from?

@Chad-Sweet I would like to update my voxl-suite-ipk meta package since I doubt maybe something is wrong about the voxl-vision-px4? is there a simple way to do it except flashing a new system image of voxl? should I use the following command to do it?

opkg update && opkg upgrade

@Chad-Sweet Yeah. I already reload a flight core firmware and it doesn't help. Is it possible that voxl-vision-px4 server is broken? The UART wire physical connection looks pretty valid. it is hard for me to find out where the issue is from.

More tests have done:
(1) First, I can ssh into voxl through my laptop. And this means the wifi in VOXL is working.
(2) I can adb into voxl board, which means that my voxl board is not bricked?
(3)I can connect my flight core with my QGC via USB.
(4)I tried to run voxl-inspect-services, and it shows

(5)I also tried to run voxl-inspect-qvio, and it shows that

(6)I also tried to reset the voxl-vision-px4 by running voxl-configure-vision-px4 as follows

But there still is a WARNING show PX4 disconnected from UART.

Any suggestion ?

@keil
Hi, keil, Thanks for help.
I tried to run the systemctl restart voxl-vision-px4, but it doesn't help.

What do you mean enabling voxl-mavlink-server?

QGC ip address is correct.