Hey @Eric-Katzfey @James-Strawson ,

Thanks a lot for helping me with the integration of my VOXL2 with Cube Orange. It is working well. I am also using it with the ToF, HighRes, and tracking camera from ModalAI.
Position hold using VIO and Semi-Autonomous (VOA) are also working well.

Now, I am facing an issue with the offboard mode. The moment I switch to offboard, the drone aggressively moves and crashes. (in both "figure_eight and "trajectory"). [In the offboard mode = "off", I am not able to switch to offboard. ]

There are no error messages in QGC or otherwise. Except offboard everything else works.
Could please help with this issue?
I'm working on this as a priority, so any suggestion will be quickly tested. I hope to hear from you.

Thank you

Hey @Alex-Kushleyev @Eric-Katzfey @tom

I'm using a VOXL2 compute along with Flight Core V2 as external flight controller.

PX4 version: v1.15.1 (Stable)

The VOXL2 communicates with FC as mentioned in this documentation.

For position hold I have set EV parameter using tracking camera fusing with a Optical Flow with Rangefinder onboard. I'm able to see the odometry message being shown in mavlink console on QGC. Also, I try streaming the message from VOXL2,

mavlink stream -r 30 -s ODOMETRY -d /dev/ttyS1

In voxl-vision-hub I have set the mode to figure_eight. But once, I switch to offboard mode from position mode the drone stays at the same place and does not perform figure 8.

Once I ssh into VOXL2, and check for mavlink status, I get the LOCAL_POSITION_NED but not #331 ODOMETRY message. How can I get that message?

Without that message I'm not sure if VIO inputs from tracking camera would be passed on to FC for fusion on switching to offboard mode of flight.

We have been looking out for VOXL Time of Flight (TOF) Depth Sensor from ModalAI products page to integrate with our VOXL2 board. But the sensor is currently unavailable for the critical time period.

The sensor provided is ToF Depth sensor from PMD. Could the same sensor module provided by PMD(ie. PMD Flexx2 3D Camera Sensor module) be directly integrated with VOXL2?

@Eric-Katzfey As you suggested .I tested the same configuration in another build, where the Doodle labs module is away from ESC . the testing did not show any loss of data.

Hi @Eric-Katzfey,

Thanks for your feedback.

I have a few additional clarifications that I would like to request, listed below:

In my current setup, I am powering the DoodleLabs Nano module using a 5V, 1.5A BEC, and the data interface is configured through the USB Dev port (Port 1).
With this configuration, the signal/noise readings observed in the DoodleLabs portal are approximately -45 dBm / -85 dBm, respectively.
Could you please share your suggestions or insights based on these RSSI readings?

Powering Query

I would also like to confirm whether the Nano module can be powered directly from the VOXL2.
I was unable to find detailed specifications regarding the current rating of the VOXL2 port.
Could you please confirm if the VOXL2 port can supply adequate current to reliably power the DoodleLabs module?
Your confirmation will help finalize our power configuration.

Oscilloscope Query

You had earlier suggested checking the signals on an oscilloscope.
Since our communication interface uses USB (not UART), I wanted to confirm if it is practical or meaningful to probe USB signals using an oscilloscope in this context.

Looking forward to your feedback and guidance on these points.

@Eric-Katzfey will shielding work, if so what should be shielded?

@Eric-Katzfey Hey, My build has ESC directly below the Doodle labs module, and the antenna cable is going out below the ESC, there is carbon fibre plate above and below the electronics.
can the cause the issues i am facing be because of EMI.

@Eric-Katzfey Ok I will try all of them, and let you know.

@Eric-Katzfey Yes this over the earlier issue of dealy, I highly believe that there is a chance of everything to be related.
The FC data and the portal data, along with the ssh connection is lost in the moment of high throttle which is regained after a time frame of 10 to 30 seconds. the doodle labs to doodle labs module communication remains intact.

@Eric-Katzfey I tested this out , I observed a strange behaviour, during the system is connected to doodle labs, I am able to see the video stream and the portal. once I am and try to take the data transfer is cut, I am not able to see any data from px4 or voxl 2. At the same time I can see that Doodle labs modules are still connected and they are not losing connection, but the data from voxl 2 is completely lost, QGC also is disconnected which make me lose the control over the drone.
what can cause this kind of behaviour., and this observed when i arm try to take off and throttle is high, Normal arming, even when the command control is slow the drone does not lose connection, high throttle it is different.

voxl 2 is not boot looping. just the communication is lost with the voxl 2. I checked the Doodle labs connection with multi meter, i was proper.

It does get connected back through QGC and portal but that delay is risky, drone is flying away.

Hey @Alex-Kushleyev @Eric-Katzfey

I am using VOXL 2 with Flight core V2 as flight controller along with Doodle labs for communication and control.

While I try to fly the system with joystick through QGC , there is a visible delay in the mode changing as well as arming and disarming. The same time I am also facing delay in controlling the drone, the joystick inputs are delayed sometime, the drone is not taking input and once it takes it continue to roll or pitch or whatever command that was previously provided by me.

It would be great if anyone could help me with solving this issue, is it a parameter issue (PX4, QGC, or Doodle labs), or any other issue. Can the delay be because of the command is passing from Voxl to FC, should I change any parameter in the VOXL servers.

@Vinny Thank you for your valuable feedback.

I’ll keep the points you mentioned in mind while doing the bench testing.

@Vinny Thank you for reverting back and the information, I will be more careful , and will check your recommended procedure.
From what I externally see there is no any other visible damages to any other components.
What was the capacitance of the component?

I did not notice the damage and had powered the system and it was working fine, now i have replaced the ESC, but i would like to know whether it will be ok if i get the capacitor replaced.