@Zachary-Lowell-0 Is this supposed to be built with voxl-cross or qrb5165-emulator? I keep getting this error when trying to build on my machine.

=> ERROR [internal] load metadata for docker.io/arm64v8/ubuntu:focal      0.5s

ERROR: failed to solve: arm64v8/ubuntu:focal: failed to resolve source metadata 
for docker.io/arm64v8/ubuntu:focal: no match for platform in manifest: not found

When using voxl-docker -i voxl-cross I cant seem to get it to build as it doesnt detect docker running on the host computer? I got it to build on the voxl2 fine but id like to be able to build it on my host machine as well. Not exactly sure what I am missing to do that. Any tips would be appreciated!

I am wondering if the VOXL2 IO expansion board currently has the ability to connect to an ELRS receiver and allow voxl-elrs to use it. I could use J19 on VOXL 2 but im running a distance sensor there and id like to avoid splicing the power and ground for quick prototyping.

Hi , I am curious if anyone able to provide some guidance on how to change a PX4 parameter through a ROS2 node using MicroDDS. I am running foxy on VOXL 2 and I am trying to publish the updated parameter to VehicleCommand.msg topic but no luck in getting it to work. Has anyone else been able to do something similar? Would you recommend using MAVROS as an alternative for something like this?

@jonathankampia Was able to configure the correct startup script as described here. Thanks!

@Gary-Holmgren Figured it out, I hope this helps others with a similar setup.

I didn't notice before but in the usr/bin/voxl-px4-start script there is a comment:

# qshell vl53l1x start -X -b 4

Which you can make or replace to change the DISTANCE_SENSOR condition to:

if [ "$DISTANCE_SENSOR" == "VL53L1X" ]; then
	# Make sure to set the parameter SENS_EN_VL53L1X to 1 
	qshell vl53l1x start -X -b 4
	# qshell lightware_laser_serial start -d 7

Then you can change the voxl-px4-conf to:

DISTANCE_SENSOR=VL53L1X

After setting the relevant distance sensor / EKF2 params in QGC you should be able to restart voxl-px4 and the distance sensor will appear!

Hi i have been following along on this forum post about connecting an external rangefinder to VOXL 2's J19 QUP3 i2c connector for altitude/landing purposes. I have the Holybro version of this VL53L1X sensor. Supported in PX4. I am wondering if anyone else has tried to make this work directly with PX4 through the DSP.

I had tried editing the parameters for EKF2_HGT, and EKF2_RNG_CTL. As well as adding SENS_EN_VL53L1X 1 to the startup script. when I manually configure SENS_EN_VL53L1X 1 in QGC with the mavlink console (parameter is normally hidden) it works to enable it. However when I try to use SENS_EN_VL53L1X 1 in the voxl-px4.conf in EXTRA_STEPS=() file and restart voxl-px4 then QGC is no longer able to connect to voxl 2's px4 instance. Either way the distance sensor data is not being published or working correctly. I have triple checked my wiring to be as follows:

I also noticed for DISTANCE_SENSOR=NONE a comment states: "Options include: [NONE, LIGHTWARE_SF000] " is there a plan to include more options here or is this being replaced by the voxl-rangefinder-server.

It appears ModalAi's forked PX4 does include the drivers for this as shown:

@jonathankampia said in voxl 2 external rangefinder compatibility:

@jonathankampia Just to respond to my own post here in case anyone else has the same question: It does work! We hooked up a VL53L0X rangefinder to the QUP3 i2c ports in the J19 connector and were able to start the driver with no issues by adding the start command to the voxl-px4.conf file. Interestingly, you have to modify both the EKF2_HGT_REF parameter and a specific rangefinder priority parameter that controls whether rangefinder sensor fusion is enabled at all times or just conditionally. If it's just enabled conditionally, the rangefinder data does not fuse into the EKF2 local position estimator.

I have been playing aorund with this and connected the VL53L1X to the J19 i2c but no luck yet. I have modified the parameters for EKF2_HGT, and EKF2_RNG_CTL. I am curious how you added the start command to the voxl-px4.conf file. was it just

DISTANCE_SENSOR=VL53L1X

or something like

param set SENS_EN_VL53L1X 1

I was able to use QGC to to enable the SENS_EN_VL53L1X.

Not sure what else there could be but maybe I am missing a step. Also, I am using the Holybro VL53L1x found here

Any help would be appricated!

@Zachary-Lowell-0 Would definitely be a useful function. I am probably gonna stick with voxl2 running px4 for now since it simplifies things.

@Zachary-Lowell-0 Yes this did the trick, thankyou!

@Darshit-Desai Hi, wondering if you were able to solve this.