Hi @Jeremy-Frederick I'm not sure if we intended to support turtle mode via joystick or have tested this functionality out so I can't guarantee that this will satisfy what you are trying to accomplish, but from what I can see in the code the steps I listed below would be a good place to start. So to enable turtle mode you will need to:

• Set up your joystick in QGC (In joystick tab select your joystick/controller and set up your channels, etc)

• You can now press buttons on your joystick while running the command px4-listener manual_control_input to see which buttons provide a non-zero value in the aux1 or aux2 fields (Some of them might not! See image below for example of non-zero value, 512 here)
  

• Once you know which buttons can be used (give a non-zero value when pressed), then enable turtle mode by setting the parameter MODAL_IO_MODE to either 1 or 2 (depending which aux channel you want to enable/control turtle mode). You may need to reboot your vehicle here!

• Finally you will need to hold down one of the buttons while in turtle mode (unless you have a button/switch on your joystick that is not a momentary button/switch)

Aside from what I mentioned here, you could use this ELRS LED driver we have here on how we implemented a similar feature (LED bar controlled by buttons on a controller/joystick) as a reference for how you could implement the functionality you want if the steps here don't work for you.

If you haven't already seen this page you can find more info about turtle mode parameters on our tech docs.

Hi @xav04 , sorry to hear you are having problems! Can you share the contents of your voxl-px4.conf (/etc/modalai/voxl-px4.conf)? I would like to get a bit more information to understand what your use case is, is it SBUS RC only as in the link you shared?

I would also recommend double checking that the voxl2-io driver is running in px4, you can either use QGC or run voxl-px4 with daemon mode disabled then run the command qshell voxl2_io status to check (px4-qshell voxl2_io status will not show you the actual status info).

-Jacob

Hi @Jetson-Nano, we only support flashing the 915Mhz BetaFPV Nano Rx via voxl2. You will need to follow the instructions on the ELRS website to flash the 2.4G RX that you have, search on this quickstart page in the receivers section and follow the instructions for your particular rx.

You can download the ELRS configurator which is the tool provided by ELRS for flashing transmitters and receivers.

-Jacob

HI @AP123, you can find information about calibration for M0134 here. The calibration procedure in voxl2_io driver in voxl-px4 is not designed to work with 4 in 1 ESC, it is for off the shelf ESCs such as BLHeli. Additional information about if you need to calibrate your 4 in 1 ESC can be found in this repo.

I believe we already provide parameters (calibration) for 4 in 1 ESC for certain motor/propeller combinations which can be loaded via voxl-esc utility on voxl2.

From tech docs:

Q: When is ESC Calibration Required?
A: When switching battery types (from 3S LiPo to 4S LiPo, etc), or when a new type of motor or new type of propeller is used.

Hi @AP123, a couple things to check:

• Do you have the new bootloader? The legacy bootloader (SDKs before 1.1.1) and the new firmware are not compatible, you won't be able to update the firmware on your Voxl2 IO using the legacy bootloader (it doesn't support flashing via UART). The new bootloader will enable firmware updates for Voxl2 IO board via Voxl2 (removing the need for STLink). We aren't currently distributing the new bootloader so you will need to send your Voxl2 IO back to us and we can send you replacement(s) with the new bootloader and firmware already loaded. You can email contact@modalai.com to get this process started.
• The firmware flashing script expects the Voxl2 IO to be connected to J18 on your voxl2. If it is connected to J19 and you wish to keep it there, then you will need to update the flashing script to use J19 (change --device /dev/slpi-uart-2 to --device /dev/spli-uart-7)
• Once you have your Voxl2 IO updated, make sure to load the voxl2_io_enable_pwm.params in the voxl2_io_helpers menu from the voxl-configure-px4-params wizard if you plan to use the Voxl2 IO for PWM outputs.
• Finally, if you have issues with your ESCs all not spinning the same rate its a good idea to run the calibration process if you are using ESCs that came from ModalAI (not the 4-in-1 ESCs though). The process is shown in our tech docs.

Jacob

Hi @daniel, you can find a functional description including drawings and a block diagram here. You can also find information regarding connectors/pinout on the next page of the documentation, here.

Hi @Jeremy-Frederick I'm not sure if we intended to support turtle mode via joystick or have tested this functionality out so I can't guarantee that this will satisfy what you are trying to accomplish, but from what I can see in the code the steps I listed below would be a good place to start. So to enable turtle mode you will need to:

• Set up your joystick in QGC (In joystick tab select your joystick/controller and set up your channels, etc)

• You can now press buttons on your joystick while running the command px4-listener manual_control_input to see which buttons provide a non-zero value in the aux1 or aux2 fields (Some of them might not! See image below for example of non-zero value, 512 here)
  

• Once you know which buttons can be used (give a non-zero value when pressed), then enable turtle mode by setting the parameter MODAL_IO_MODE to either 1 or 2 (depending which aux channel you want to enable/control turtle mode). You may need to reboot your vehicle here!

• Finally you will need to hold down one of the buttons while in turtle mode (unless you have a button/switch on your joystick that is not a momentary button/switch)

Aside from what I mentioned here, you could use this ELRS LED driver we have here on how we implemented a similar feature (LED bar controlled by buttons on a controller/joystick) as a reference for how you could implement the functionality you want if the steps here don't work for you.

If you haven't already seen this page you can find more info about turtle mode parameters on our tech docs.

hi @Siddhanth to ssh onto the voxl you will need the IP address of the voxl. This means you will need to setup wifi on the voxl and then acquire the IP address. Once you have the IP address, you can run the command as in the image you posted above and the default password is oelinux123:

ssh root@<IP ADDRESS>

@cantfaxglitter Hi, what version of ELRS is currently on your transmitter? Also, what version of ELRS is currently loaded on your betafpv receiver? You can run the command voxl-elrs --version and it will give you the firmware version for the receiver. This sounds like it could be mismatched versions of ELRS between the transmitter and the receiver, they both need to be on version 3+