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.

@jmltt For reference, here is a commit that will allow our fork to build for SITL on Ubuntu 24.04: https://github.com/modalai/px4-firmware/commit/8366d2e56c171230ee31c0856cb243d46f09de31

@schew The ESC states are as follows:
0: idle / not spinning or trying to spin
1: spinning up
2,3: unused
4: very brief transition between spin-up and full back-emf sensing mode (user's commands are not yet executing)
5: back-emf sensing mode (rpm or power control based on user's command)
If there is any issue that causes ESC to think it's stalled or communication timed out, it will go through state 0 and then to 1 if non-zero commands are sent via UART.
The typical start-up sequence is basically 0->1->4->5 and should stay at 5 until you send a zero command or stop sending commands.

@YUUJI-INOUE Can you send a PX4 log? If you can arm in manual mode then the PX4 IMU is working fine. The last voxl-px4 message sequence shows the IMU start correctly. If the parameters file does not yet exist (e.g. no PX4 parameters have been updated yet) then there will be no /data/px4/param/parameters file and you will see the error message: "open '/data/px4/param/parameters' failed". That is fine and to be expected. Once you have updated some parameters (e.g. running voxl-px4-param) then that file will be created and that error message will no longer appear.

@alan123 Are you starting voxl-px4 from the command line (e.g. voxl-px4 -d) or is it starting automatically from a systemd service file on startup. If you have started it from the command line you can enter commands from the px4 shell. So, after the script is done, you can enter gps status to see that the driver is doing. If the driver hasn't been started, try starting it directly from the command line.

@alan123 Well, is PLATFORM = M0052? Seems like you are still executing the qshell one. And the command isn't setup correctly, should be gps start -i spi -d /dev/spidev14.0

@alan123 If you are starting it on apps side the you use gps start -d <device port>. If you start it on DSP side then you use qshell gps start -d <device port>. For /dev/spidev14.0 you have to start on the apps side. Also it defaults to UART so if you want SPI then you will need to add -i spi to your start command.

@Muqing-Cao In the voxl-vision-hub configuration file /etc/modalai/voxl-vision-hub.conf how is the parameter en_vio set?

@voxltester That is not a normal option to choose via voxl-px4.conf. You will need to hand modify the startup script /usr/bin/voxl-px4-start to properly start the driver in i2c mode. Use option -b 4 to select that i2c bus.

@remill libusb doesn't use cmake. It uses autogen.sh, configure, make, etc. These are standard Linux build tools. If you enter a query such as "How do I build libusb on Linux?" into Google and check AI mode it will provide you with all the steps.

@Nitin-Varma-Vegesna If you are just flying in manual or altitude hold modes then those shouldn't be an issue.