ModalAI Forum

@Alex-Kushleyev thank you for confirming that the Flir Hadron will work on J8. Would I be able to get it working using the documentation here: https://docs.modalai.com/voxl2-hadron/

For the kernel, I have never looked at it. I see that there is documentation on kernel building etc. I will go through that and see if I can get things to work; otherwise I will reach out

Now that you mention that M0173 and M0181 both need kernel variant 1, and M0155 need kernel variant 0, I am thinking of ditching M0155 board, and just sticking with M0173 board for configuration 1 and M0181 for configuration 2.

Thanks.

@Alex-Kushleyev first of all, I really appreciate the support ModalAI - and specifically you guys, provide. It really means a lot for a team that is moving fast.

There are two independent configurations we are targeting with VOXL 2:

• dual camera configuration with M0155 on J7 (with IMX412) and M0155 on J6 (with some tracking camera), OR
• Flir Hadron configuration with M0181 on J7 (or J8 if it is easily doable).

At this stage, we are not planning on any additional camera with the Flir Hadron configuration.

I hope this clarifies our use case a bit.

Thanks.

@Alex-Kushleyev I am trying to package the M0180 hadron board with VOXL 2. Just to confirm that the M0180 board is properly plugged in the VOXL2 as shown:

If yes, can the M0180 board be trimmed (horns snapped off?) as shown in red for better packaging?

Thank you in advance for your reply.

Hi @Alex-Kushleyev ,

Any update on the EIS feature merge?

Thanks.

@wilkinsaf Hi,

Is there a CAD model for the M0181 and M0159 boards?

Thanks.

@Eric-Katzfey I would love to contribute!

I tried setting up voxl-cross. The pre-build version of voxl-cross is v2.7 on the downloads page. But I see that the voxl-cross in the repository has reached even v4. So I wanted to build voxl-cross myself. Unfortunately, the instructions say to download these files from the modalai downloads:

ubun1.0_1.8.04-M0054-14.1a-perf-20250421-rootfs.tar.tar
ubun2.0_2.0.0-perf-20250421-rootfs.tar.tar

And I can't seem to find these files. Without that, I am unable to compile. Any suggestions on how to compile the latest voxl-cross? Or should I just use v2.7?

Thanks.

Re: External MAVLink Connection using VOXL 2 through ttyHS1

Hi,

I am in need of integrating a mavlink gimbal and a parachute with the voxl2 autopilot. Mavlink is becoming a common protocol to communicate with a number of external peripherals like gimbal, parachute, engines etc. As such, there is a growing need to have voxl-mavlink-server be able to start a bi-directional mavlink stream on app UARTs like that on the USB3/UART Add on board (/dev/ttyHS1).

Is this something on the roadmap? Or any work arounds at the moment?

Thanks.

@Alex-Kushleyev thank you so much. I can wait till the changes are merged and available to update directly on the voxl2.

Yes, I am using the IMX412 camera.

I can start off with whatever you have got for now and hope for a good video feed on my drone without any gimbal. As new changes come along, I will update.

I have never setup a build environment for voxl repos. I am used to building PX4 etc. with some of my custom changes. I would love to learn how to setup the build environment for the voxl repos. So if you can point me in the right direction, that would be great! I see in the docs, under "voxl SDK > custom voxl applications", there are some instructions.

Thank you!

@Alex-Kushleyev said in EIS merge:

You will need to build the voxl-camera-server and voxl-portal packages from the appropriate branches. Hopefully you can do that by yourself. If not, i can post the test debs.

Hi @Alex-Kushleyev I want to use the EIS features. Would you be able to help me guide in the right direction of how to setup a build environment and build from the voxl-camera-server eis branch? Thank you.

@Alex-Kushleyev That was it! I first tried with a lower baud rate of 250K on PX4 and I started getting the battery info. Then as you recommended, I uploaded new parameters to the ESC. I used:

python3 voxl-esc-upload-params.py --params-file ../voxl-esc-params/D0014_starling_1504_3000kv_ms_props/D0014_starling_1504_3000kv_ms_props.xml

because I will be using it on a drone of similar size and performance. Then with 2M baud rate in PX4, I was able to make it work!

Thank you.

@Alex-Kushleyev No, it was default. I am using the latest QGround Control. Here are some images of the parameters.

All voxl related parameters:

VOXL_ESC_PUB_BST:

I also double checked using manual entry:

Let me know if that helps.

@Eric-Katzfey VOXL_ESC_PUB_BST = Enabled and px4-listener battery_status gives "never published".

@Alex-Kushleyev Thank you for your reply. I want to set up a single IMX412 camera (with same settings to start with) for live video streaming. I also want EIS and found a recent topic with your comments which I will follow.

For initial testing, I will be using the Starling 2 Adapter M0173 with one IMX412 camera. Once I purchase the single adapter (MDK-M0155-1), then I will use that instead.

I will try out what you proposed. Will reach out if there are any issues

Thank you.

Regards.

Hi all,

I currently have the Starling 2 Adapter M0173 with C29 config (dual IMX412, TOF, dual AR0144. I am able to configure the cameras using voxl-configure-cameras, and see all the four video feeds in the voxl portal.

I now want to create a custom configuration with Micro-coax Adapter (MDK-M0155-1) and single IMX412 camera. I see that I need to create a custom configuration file before running the voxl-configure-cameras command but I don't know how to do this pls.

Can someone help me to setup a single camera feed as mentioned above.

Thanks.

@Alex-Kushleyev the RX and TX lines need to be swapped at the J18 connector as well, please

@Alex-Kushleyev it seems like after the wiring fix for the ESC, everything started to work properly.

• I measured the voltage b/w GND and pin 1 of J18 and it was around 3.3V.
• I also was able to configure the LTE modem without any issue.
• The ONLY problem I have now is that I don't see any battery voltage (or info) in voxl portal UI or QGround Control. I have the VOXL2 and Mini 4-in-1 ESC connected. I am under the impression that the ESC publishes battery info via the UART connection to the VOXL2 and the voxl-px4 service uses that to publish battery info? Am I correct? Am I missing something in the PX4 parameters or VOXL configuration?

Thank you for all your help!

@Alex-Kushleyev I followed the steps. The ESC was detected in the scan:

and the run command executed as:

My power supply is at 7.4V since I intend to power the drone with 2S pack. In idle, the power supply shows ~132mA and during the spin test the power supply showed 135mA - 148mA.

• Also the power output is 5V at the ESC when VOXL2 is connected.

@Alex-Kushleyev here are the results:

• I connected the ESC to a power supply (12V) and USB-UART(3.3v) cable. I was able to successfully scan and spin the ESC. See screenshots below:
  

I did not have any motors connected to the ESC but I did the spin test. I did see the current on my power supply jump from 38mA to ~55mA and all four LEDs were blinking blue.

• When idle (ESC not spinning), the power supply was showing a current between 36mA - 38mA.

• On bootup, the ESC blue LEDs rapidly flash for 1 s and then 2-3 blue blinks and then no blinking. When I spin the ESCs, the blue LEDs start blinking maybe once every second.

• Using a voltmeter, I can see 5V on the power output.

Let me know the next steps

@Alex-Kushleyev just to confirm that I need to use a USB-to-UART (TTLv3.3) cable and connect it to the UART port J1 of the ESC?
Thank you for working through this with me. Really appreciate the support!

@tom can you look at this topic I just created. It turns out I was wiring the 4-in-1 ESC wrong as per a wiring diagram in the documentation.

Error in VOXL mini 4 in 1 ESC diagram

Hi, I am having strange issues with the VOXL2. I had hooked it up with a 4-in-1 mini ESC using the diagram here: https://docs.modalai.com/images/d0014/CWD-D0...

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