ModalAI Forum

dvz

Hello
We have 3 VOXL2s. All three of them are on the same VOXL suite.
One of the VOXLs has had a problem for a while now where it would have a high accelerometer bias that would keep coming back randomly. Back then, the VOXL was running an alpha or beta software version, and we thought that was the issue. However, we moved all VOXLs to the same SDK version, and the VOXL2 kept having issues. It still has the accelerometer bias issue, which shows up way more often than on any of our other VOXL2s.

Recently, a new problem popped up: the VOXL2 would randomly start rebooting. At first, we thought it had just lost communication, but after digging further, we found it actually rebooted. It is hard to say if there is something in particular that causes it, as the rebooting sometimes happens shortly after the VOXL was turned on and sometimes once we actually start running packages. The CPU load looks normal to me under full load:
Name MHz Temp Util | Sep 1 2026 08:54:07|
cpu0 1804 60.6 66.0 | Uptime: 0:17:45|
cpu1 1804 60.2 64.3 | |
cpu2 1804 59.0 62.4 | Mem Use (MB) |
cpu3 1804 60.2 64.0 | 1526.3/7671 |
cpu4 2419 67.2 66.7 | Mem Allocation |
cpu5 2419 62.5 15.8 | -0.1 MB/s |
cpu6 2419 62.9 10.1 | |
cpu7 2841 72.9 71.3 | Governor: Perf |
Total 63.2 52.6 | Pitmode: Not Active |
10s avg 53.5 | Auto Pitmode: OFF |
-------------------------| |
GPU 587 51.7 0.8 | |
GPU 10s avg 0.8 | |

This happens with battery power supply as well as using the normal power supply cable.
All three VOXLs have the same settings and software packages installed. The problem only happens on the one drone.
I tried to look at the logs after a reboot, but nothing special showed up.
The VOXL could have this issue constantly on one day, even when we power-cycle it over and over again, and then the next day, it is fine again.
On days where it has the issues, we also noticed that it does not connect to the chrony server or only after minutes (usually happens within seconds) and saved data in rosbags do not make sense (e.g., with motion capture running at 200Hz, the drone thinks it jumped 30 meters in the air when moved less than a meter by hand, and heading is off by 90°...). On days when the VOXL works, all of these issues seem to magically disappear, and it works like the other drones. However, we have not had one of these "normal" days in a while. The issues seem to be getting worse. Fortunately, I have recently only been using the drones for software package tests and have not actually flown them. Reboots mid-flight would have been really bad.

Unfortunately, the problem is urgent, as we have important flight tests coming up and the VOXL is currently unusable.

Hardware: VOXL2
SKU: MCCA-M0054-CC-T0-M0-X0
voxl-suite: 1.6.5

voxl-version
────────────────────────────────────────────────────────────────────────────────
system-image: 1.8.06-M0054-14.1a-perf
kernel: #1 SMP PREEMPT Wed Oct 22 04:13:18 UTC 2025 4.19.125
────────────────────────────────────────────────────────────────────────────────
hw platform: M0054
mach.var: 1.0.1
SKU: MCCA-M0054-CC-T0-M0-X0
────────────────────────────────────────────────────────────────────────────────
voxl-suite: 1.6.5
────────────────────────────────────────────────────────────────────────────────
Packages:
Repo: http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-1.6/binary-arm64/
Last Updated: 2026-07-07 17:09:44
List:
libfc-sensor 1.0.12
libmodal-cv 0.6.1
libmodal-exposure 0.1.5
libmodal-flow 1.0.5
libmodal-journal 0.2.7
libmodal-json 0.4.8
libmodal-pipe 2.14.12
libqrb5165-io 0.6.3
libvoxl-cci-direct 0.4.0
libvoxl-codec 0.1.1
libvoxl-cutils 0.1.6
modalai-slpi 1.2.3
mv-voxl 0.1-r0
qrb5165-bind 0.1-r0
qrb5165-dfs-server 0.2.0
qrb5165-mini-tof-server 0.2.2
qrb5165-rangefinder-server 0.1.6
qrb5165-slpi-test-sig 01-r0
qrb5165-tflite 2.17.2
voxl-bind-spektrum 0.1.1
voxl-camera-calibration 0.6.2
voxl-camera-server 2.2.28
voxl-ceres-solver 2:2.0.0-3
voxl-configurator 1.1.31
voxl-cpu-monitor 0.7.7
voxl-docker-support 1.3.1
voxl-elrs 1.1.7
voxl-esc 1.6.3
voxl-esptool 0.2.1
voxl-feature-tracker 0.5.2
voxl-flow-server 0.3.6
voxl-focus-camera 0.6.2
voxl-gphoto2-server 0.0.10
voxl-imu-server 2.0.2
voxl-io-server 0.1.1
voxl-jpeg-turbo 2.1.3-7
voxl-lepton-server 1.4.1
voxl-lepton-tracker 0.0.4
voxl-libgeographic 1.0.0
voxl-libgphoto2 0.0.4
voxl-libuvc 1.0.7
voxl-logger 0.6.3
voxl-mavcam-manager 0.6.1
voxl-mavlink 0.1.6
voxl-mavlink-server 1.4.16
voxl-modem 1.2.5
voxl-mongoose 7.19.0-1
voxl-mpa-to-ros 0.3.9
voxl-mpa-tools 1.5.8
voxl-nano-tracker 0.1.7
voxl-open-vins-server 0.6.2
voxl-opencv 4.5.5-3
voxl-osd 0.4.11
voxl-portal 0.9.4
voxl-px4 1.14.0-2.0.142
voxl-px4-params 0.9.15
voxl-qvio-server 1.2.3
voxl-remote-id 0.0.9
voxl-reset-slpi 0.0.4
voxl-state-estimator 0.0.6
voxl-streamer 0.8.1
voxl-tag-detector 0.1.0
voxl-tflite-server 0.5.1
voxl-utils 2.0.5
voxl-uvc-server 0.1.8
voxl-vision-hub 1.9.21
voxl-vtx 2.2.38
voxl-wavemux 0.0.3
voxl2-io 0.0.3
voxl2-security-hardening-utls 1.0-r0
voxl2-system-image 1.8.06-r0
voxl2-wlan 1.0-r0

dvz

@zauberflote1 We are using our own custom airframe. Our SDKs are 1.6.0 beta and 1.4.5. However, I also just spoke with a colleague who owns a Starling 2, and he confirmed our findings.

dvz

Hello,

According to your website, it seems like the VOXL2 coordinate frame should be FRD. However, on both of our VOXL2s with different SDKs, we get z pointing upwards (IMU telling us -9.81m/s^2).
This holds true for voxl-inspect-imu and the rostopic imu_apps.
Is this a bug? Are we doing something wrong? We are a little confused, as this contradicts your information on your website and in your documentation.
The only topic that seems to be correct is imu_apps_raw. However, there is not documentation on imu_apps_raw at all and it only exists in one of our SDKs.

Thank you.

dvz

Hello,
could anyone please help me with my question? The data cannot be found in your documentation. But it can be found in your documentation for other cameras.

dvz

Hi ModalAI team,

I would like to use different AprilTag families than the old 36h11 family. How much work would it be to run a different family through the modalAI architecture over ROS packages? Ideally, I would like to change the voxl-tag-detector so it can use the custom48h12 family. How would one approach this problem?

Thank you.

dvz

I bought a MSU-M0149-1 camera. Unfortunately, the data sheet on your website is empty and the information in the store is also very limited compared to your other cameras.
Does this camera come with an IR cut filter? Can I detect IR markers with this sensor?

Thank you.

dvz

This worked. Thank you.

However, one thing I still cannot find is the apriltag-server. It is listed as a requirement on the voxl-vision-hub. When I try to start the server, I am told it could not be found, and I also cannot find an apriltag-server in the other documentation pages about relocalization and apriltags.

dvz

I ran the voxl-vision-hub for the first time, installed ROS and ran voxl-configure-mpa.
After running those commands, the command:

voxl-camera-server -l

now only returns this:

====================================
Number of cameras detected: 1
====================================

instead of the longer information output that is shown in the documentation docs. It also causes the camera to not work in the portal anymore until I just run voxl-camera-server.

I also found that all the servers listed underneath the voxl-vision-hub as requirements are found, except for the apriltag-server. How do i get the apriltag server running?

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dvz

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