There is a new module under development that allows you to pipe VGA (640x480) video from the hires camera at 30fps via MPA so that it can be streamed with voxl-streamer using RTSP while simultaneously saving 4k HD video at 30fps encoded as h265 into a file, preferably on the SD card on voxl. This module is now available in beta and will be officially released in upcoming releases of the voxl SDK for voxl, rb5-flight, and voxl 2. The beta package is available using wget https://storage.googleapis.com/modalai_public/modal_packages/archive/voxl-hires-server_0.0.1.ipk. It is meant for use on voxl only and is compatible with voxl platform release 3-3-0-0.5.0-a. In order to use it with voxl-camera-server, reconfigure voxl-camera-server to not use the hires camera. For example, call voxl-configure-cameras and choose option 1 Tracking + Stereo to allow voxl-camera-server to access the tracking and stereo cameras but not the hires camera. Then you can use voxl-hires-server for the hires camera. Use voxl-hires-server -h to see the available options. More documentation will be available upon official release of this new package.

@kitkatSG Yes, we have enabled most resolutions in that sensor now and are preparing a release to address this issue.

@Kessie Excellent, glad to hear you got it working! And thanks for adding the details on what you had to do to the posting!

@JoeC Seems like it is an SD card issue. I was able to recreate the problem when using a SanDisk Extreme 32GB card. But when using a SanDisk Ultra 16GB card everything works fine.

@Morten-Nissov 1MHz is a supported clock rate for i2c on the DSP based on what I can see in the code. But we have never tried running a device at 1MHz on i2c so it's tough to say why it wouldn't be working for you.

@ceu-gomez PX4 on VOXL2 is composed of two separate applications. One is on the applications processor (running Ubuntu) and the other is on the DSP (running Qurt RTOS). They use the muorb module to communicate topic data back and forth. The spare i2c on J19 is mapped to the DSP, not the applications processor, so Ubuntu has no access to it. To gain access to it on Ubuntu side with PX4 running would require some new code. This is something that is on our development roadmap but no definitive answer on when we will be able to get to it.

@JoeC SDK 1.1.1 is now available. Please use the installer in the voxl2_SDK_1.1.1.tar.gz archive to install this.

@Dan It's not really documented anywhere other than the source code. The best place to look is at the muorb module code. That is what implements the uorb communicator interface to allow advertisements, subscription requests, and topic data to flow between the DSP and the Linux side.

@Hammas-Ali We have not tried either of those streaming protocols. Voxl is a Linux computer so it is likely that you can implement RTMP or DASH. voxl-streamer uses GStreamer so, if there are RTMP or DASH GStreamer elements available, it shouldn't be too hard to incorporate them.

An update to UVC camera support has been started. It will increase number of supported cameras by allowing MJPEG and will increase number of supported viewers including latest QGroundControl versions. Target availability is mid-December.

@Jetson-Nano VOXL 2 does not have PWM out. You would need our IO expander board M0065 to bridge between UART and PWM. https://www.modalai.com/products/voxl2-io?variant=40610514206771

@cguzikowski Yes, we have tested Ardupilot with GPS and have customers using Ardupilot with GPS. However, I don't know that anyone has ever tried with an M9N unit so perhaps there is some issue with that. Can you try with one of these: https://store.3dr.com/mini-gps-ublox-max-m10s/?

@Hector-Gutierrez What branch are you trying to build? If you install dependencies from the dev repo then you should also be building the dev branch of voxl-vision-hub

@Avishkar-Seth It's kind of scattered around in the docs. But here is the high level architecture: https://docs.modalai.com/how-to-connect-voxl-to-flight-core/

PX4 cannot run on VOXL, only on VOXL 2. On an m500 it will be running on the separate flight core board.

@ashwin Are you looking to control the servo via PX4 or with some custom software? What will the servo be doing?

@george-kollamkulam Is that so that you can power your distance sensor?

@george-kollamkulam Regarding question #2 you will need to rebuild PX4. It currently only has the serial drivers built in for the Lightware distance sensors. So, in file boards/modalai/voxl2-slpi/default.px4board you would need to add the driver with DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C=y. Once it has been built into the image then you can start it in the startup script /usr/bin/voxl-px4-start with the command qshell lightware_laser_i2c start -d 4

@KnightHawk What are you trying to do? Why would you want to communicate with your FC via i2c?

@will-huang-oksi That post also refers to using mavlink router. Have you tried that?