Posts made by Eric Katzfey

@brandon You'll need to load SDK v1.6.x to get it.

@sja123 No, unfortunately, we do not currently support boot from SD card.

@magnetocircuit Yes, this is supported. In the config file for px4 /etc/modalai/voxl-px4.conf set ESC=VOXL2_IO_PWM_ESC.

@colombe-ai I'm not sure how much we're going to be able to help to get this going but I'd start with that magnetometer. Put an oscilloscope in the lines and see if you see any activity.

@colombe-ai How did you end up with this drone? Do you know the history of it? Has it been involved in some crashes? There could be some connector / cable damage that is causing some of the peripherals to no longer work. It's going to need some low level troubleshooting.

@colombe-ai Can you please provide the SKU? (See: https://docs.modalai.com/sku/#inspect-sku). Was this drone flying before you updated? What version were you using before? If you go back to that version does everything work normally again?

@bendraper I just tried it and it is working now:

modalai@modalai:~/development/modalai/voxl-vision-hub (dev)$ voxl-docker -i voxl-cross
launching image: voxl-cross with the following command:
docker run --rm -it --net=host --privileged -w /home/modalai --volume=/dev/bus/usb:/dev/bus/usb -e LOCAL_USER_ID=0 -e LOCAL_USER_NAME=root -e LOCAL_GID=0 -v /home/modalai/development/modalai/voxl-vision-hub:/home/root:rw -w /home/root voxl-cross /bin/bash -l

voxl-cross(4.4):~(dev)(1.9.21)$ ./clean.sh 
voxl-cross(4.4):~(dev)(1.9.21)$ ./install_build_deps.sh qrb5165 dev
using qrb5165 dev debian repo
Ign:1 http://voxl-packages.modalai.com ./dists/qrb5165/dev/binary-arm64/ InRelease
Ign:2 http://voxl-packages.modalai.com ./dists/qrb5165/dev/binary-arm64/ Release
Get:3 http://voxl-packages.modalai.com ./dists/qrb5165/dev/binary-arm64/ Packages [76.8 kB]
Fetched 76.8 kB in 1s (122 kB/s)
Reading package lists... Done

INSTALLING: 
libmodal-json
libmodal-pipe
librc-math
libmodal-cv
voxl-mpa-tools
voxl-mavlink

Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
The following NEW packages will be installed:
  libmodal-cv:arm64 libmodal-json:arm64 libmodal-pipe:arm64 librc-math:arm64 voxl-mavlink:arm64
  voxl-mpa-tools:arm64
0 upgraded, 6 newly installed, 0 to remove and 2 not upgraded.
Need to get 5026 kB of archives.
After this operation, 0 B of additional disk space will be used.
Get:1 http://voxl-packages.modalai.com ./dists/qrb5165/dev/binary-arm64/ librc-math 1.4.6-202510091209 [180 kB]
Get:2 http://voxl-packages.modalai.com ./dists/qrb5165/dev/binary-arm64/ libmodal-cv 0.6.0-202510141028 [3887 kB]
Get:3 http://voxl-packages.modalai.com ./dists/qrb5165/dev/binary-arm64/ libmodal-json 0.4.8-202510091202 [52.5 kB]
Get:4 http://voxl-packages.modalai.com ./dists/qrb5165/dev/binary-arm64/ libmodal-pipe 2.14.10-202601210836 [151 kB]
Get:5 http://voxl-packages.modalai.com ./dists/qrb5165/dev/binary-arm64/ voxl-mavlink 0.1.6-202511141246 [650 kB]
Get:6 http://voxl-packages.modalai.com ./dists/qrb5165/dev/binary-arm64/ voxl-mpa-tools 1.5.6-202601201423 [106 kB]
Fetched 5026 kB in 1s (6805 kB/s)         
debconf: unable to initialize frontend: Dialog
debconf: (No usable dialog-like program is installed, so the dialog based frontend cannot be used. at /usr/share/perl5/Debconf/FrontEnd/Dialog.pm line 79, <STDIN> line 6.)
debconf: falling back to frontend: Readline
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(Reading database ... 35164 files and directories currently installed.)
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Setting up voxl-mavlink:arm64 (0.1.6-202511141246) ...
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Setting up libmodal-pipe:arm64 (2.14.10-202601210836) ...
Setting up libmodal-cv:arm64 (0.6.0-202510141028) ...
Setting up voxl-mpa-tools:arm64 (1.5.6-202601201423) ...
Processing triggers for libc-bin (2.39-0ubuntu8.5) ...

Done installing dependencies

voxl-cross(4.4):~(dev)(1.9.21)$ ./build.sh qrb5165
Found voxl-cross version: 4.4
-- ---------------------------------------------------------
-- Using voxl-cross 64-bit toolchain for QRB5165 ubun1 18.04
-- C Compiler  : /usr/bin/aarch64-linux-gnu-gcc-7
-- C++ Compiler: /usr/bin/aarch64-linux-gnu-g++-7
-- Sysroot     : /opt/sysroots/qrb5165_1
-- C flags     : -isystem=/usr/lib/gcc/aarch64-linux-gnu/7/include -isystem=/usr/local/include -isystem=/usr/lib/gcc/aarch64-linux-gnu/7/include-fixed -isystem=/usr/include/aarch64-linux-gnu -isystem=/usr/include -idirafter /usr/include -march=armv8.2-a
-- CXX flags   : -isystem=/usr/include/c++/7 -isystem=/usr/include/aarch64-linux-gnu/c++/7 -isystem=/usr/include/c++/7/backward -isystem=/usr/lib/gcc/aarch64-linux-gnu/7/include -isystem=/usr/local/include -isystem=/usr/lib/gcc/aarch64-linux-gnu/7/include-fixed -isystem=/usr/include/aarch64-linux-gnu -isystem=/usr/include -idirafter /usr/include -march=armv8.2-a
-- Link Flags  :  -B/opt/sysroots/qrb5165_1/usr/lib/ -L/opt/sysroots/qrb5165_1/usr/lib/gcc/aarch64-linux-gnu/7 -L/opt/sysroots/qrb5165_1/usr/lib/aarch64-linux-gnu -L/opt/sysroots/qrb5165_1/usr/lib -L/opt/sysroots/qrb5165_1/lib/aarch64-linux-gnu -L/opt/sysroots/qrb5165_1/usr/lib/aarch64-linux-gnu -L/opt/sysroots/qrb5165_1/lib -L/usr/lib64 -L/usr/lib
-- The C compiler identification is GNU 7.3.0
-- The CXX compiler identification is GNU 7.3.0
-- Detecting C compiler ABI info
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-- Detecting CXX compile features
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-- Configuring done (0.3s)
-- Generating done (0.0s)
-- Build files have been written to: /home/root/build
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@bendraper The code is open source. It is located here: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-vision-hub/-/tree/dev?ref_type=heads. We encourage users to clone the repo and familiarize themselves with the code base. Did you try setting offboard_mode to off? Did it stop the SET_POSITION_TARGET_LOCAL_NED messages from being sent out?

@bendraper I would recommend using dev instead of master. dev is latest, master is an occasional snapshot of dev. However, dev can sometimes be broken so that's always a risk.

@bendraper You cannot always match dev and master. Since you want to build master I would suggest using staging for you dependencies instead. Why don't you want the dev branch?

@bendraper If you don't provide any arguments then the command will not work and you won't get any dependencies installed.

@bendraper Which repo are you using for the dependencies? For example: voxl-cross(4.4):~(master)(1.9.20)$ ./install_build_deps.sh qrb5165 staging

@jonathankampia https://gitlab.com/voxl-public/voxl-sdk/core-libs/libmodal-pipe/-/blob/master/library/src/interfaces.c?ref_type=heads#L72

@bendraper Edit /etc/modalai/voxl-vision-hub.conf and set "offboard_mode": "off"

@voxltester Great! Glad you got it working.

@voxltester In order to execute on the DSP side you have to have qshell before the command. When you have it you get the error that command is not found. That's probably because the driver has not been built into the DSP image. It only seems to be on the apps side.

@voxltester slpi_proc = SLPI = SSC = DSP. I think the only option at this point is to attach an oscilloscope and verify the signals.

@voxltester i2cdetect is looking for i2c ports on the apps processor so it isn't useful for this where we are trying to use DSP i2c ports. It shows an error message. Can you add the -X option to see if that resolves that error condition?

@voxltester And, in general, for all software engineers out there here is a helpful tip. ModalAI is not affiliated with Anthropic in any way but I do want to highlight their Claude Code tool. It can really help you not just write code, but to understand code that is already there. So, for example, in this post there is a question about how the -b option is parsed. It's a bit complicated how all of the pieces fit together but if you were to ask Claude this question: "I'm using the device driver in the file lightware_laser_i2c.cpp. I was told that the LightwareLaser class can take the command line option -b to specify the i2c bus number using the start command. Can you show me where in the code the -b option is parsed?". Claude will then give you this answer:

The -b option is not parsed directly in this file. Looking at the code:

  At line 450, the custom option parsing only handles -R for rotation:
  while ((ch = cli.getOpt(argc, argv, "R:")) != EOF) {
      switch (ch) {
      case 'R':
          cli.rotation = (Rotation)atoi(cli.optArg());
          break;
      }
  }

  The -b option (for I2C bus number) is handled automatically by the BusCLIArguments class, which is instantiated at line 445:
  BusCLIArguments cli{true, false};

  This class is included from <px4_platform_common/i2c_spi_buses.h> (line 47). The cli.getOpt() method internally processes standard I2C/SPI options like -b (bus), -a (address), etc., before returning custom options like -R to this driver's switch statement.

  If you want to see where -b is actually parsed, you'd need to look at the BusCLIArguments class implementation in the PX4 platform common library:

  src/lib/drivers/device/posix/i2c_spi_buses.cpp
  or
  platforms/common/i2c_spi_buses.cpp

  The PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false) call at line 435 documents that this driver accepts I2C options (including -b), but the actual parsing is abstracted away in the shared bus infrastructure.

@voxltester Yes, bus 4 corresponds to pins 7 and 8 on J19. I would put an oscilloscope on the data pin and see if you detect any activity when you start the driver to verify.