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.

@adiprin1 Can you please start a new forum topic for this? And please include information about the device that you are looking to attach? Thanks!

@oiler251 You should be able to arm with the arm gesture (e.g. moving the left stick to bottom right). But since that isn't working I suggested to configure an arm switch. I do see that the RC2_TRIM parameter is set to 1000.0 which is odd. Normally it is around 1500.00. When you look at the QGC radio configuration screen and you move the sticks around do they look normal? And when sticks are centered are they all showing that they centered on the graphics? You could try setting RC2_TRIM to 1500.0 and see if that allows you to arm with the gesture. Please make sure you have the propellers removed when doing this testing!

@oiler251 The PX4 User Manual has some documentation here: https://docs.px4.io/main/en/advanced_config/prearm_arm_disarm. QGroundControl User Manual has some documentation here: https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/flight_modes_px4.html#flight-mode-settings

@oiler251 ModalAI does not provide free phone or video conference support. You can reach out to Ascend engineering if you desire paid consulting. https://www.ascendengineer.com/

@oiler251 Please be aware that the Starling 2 Max is a development drone and it is targeted for experienced developers who already are comfortable with using PX4, QGroundControl, Linux, and embedded systems. Drones can be extremely dangerous and should only be setup and flown by personnel with the required knowledge. Safety must be everyone's first priority.

@oiler251 For arming I would configure an arm switch instead of using the arm gesture (moving throttle to bottom right).

@oiler251 It seems like in QGC you cannot just change that value directly, you have to uncheck all of the boxes instead of the satellite count one. Then it will go to 1. Then you can save, reboot and try to arm. I think before doing that, however, you should first try to change EKF2_REQ_HDRIFT to 1.0 as suggested. That is a more precise way to make the adjustment.

@oiler251 Here's what ChatGPT says:

The pre-arm message “GPS Horizontal Position Drift too high” is gated by **EKF2_REQ_HDRIFT**.
If you truly need to relax that check, raise **EKF2_REQ_HDRIFT** (default is often ~0.5 m/s). For example, set it closer to **1.0 m/s** so the EKF will accept more horizontal drift while on the ground and allow arming. The related on-ground GPS checks are toggled by the **EKF2_GPS_CHECK** bitmask (bits **5** and **7** cover horizontal drift and horizontal speed, respectively), but changing the threshold via EKF2_REQ_HDRIFT is the usual tweak. ([PX4 Documentation][1])

Quick steps in QGroundControl: Parameters → search “EKF2_REQ_HDRIFT” → increase slightly → write & reboot.

⚠️ Note: loosening this check masks a real reception problem (antenna placement, multipath, EMI). If possible, fix the root cause instead of weakening safety checks. ([discuss.px4.io][2])

[1]: https://docs.px4.io/v1.14/en/advanced_config/parameter_reference.html?utm_source=chatgpt.com "Parameter Reference | PX4 User Guide (v1.14)"
[2]: https://discuss.px4.io/t/pixhawk-4-preflight-gps-horizontal-pos-error-too-high/21010?utm_source=chatgpt.com "Pixhawk 4 preflight gps horizontal pos error too high"

@oiler251 Why can't you set EKF2_GPS_CHECK to 1? What happens when you try? Your last screen shot shows 2 errors. The high throttle error just means you have to put throttle to lowest position before arming.

@oiler251 How many satellites do you see with GPS? What if you set EKF2_GPS_CHECK to 1. Does that then allow arming? There are a bunch of parameters that can be set to tune how sensitive it is to various GPS statistics.