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

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?

Hi @Alex-Kushleyev @modaltb @Eric-Katzfey
I still have the same error when i use my custom board. Could you verify my board pinouts.

@tom I had an additional query , when i connect the microhard ground module to the windows system, I am able to get the portal on browser through the ip address 192.168.168.100. when I assign the ip to the QGC, it is not loading.
This was not an issue in ubuntu, in ubuntu the QGC was loading automatically.

@Alex-Kushleyev, I using voxl2 with M0173 board with camera config 29.
The errors are now solved, I made the necessary changes and reconfigured every server and pipeline and calibrated the cameras.

@tom @Alex-Kushleyev @Eric-Katzfey
I calibrated the camera, now i am not getting error while running the qvio-server, but different debug message

voxl2:~$ voxl-qvio-server 
loading config file
=================================================================
odr_hz:                           30.000
use_camera_height_bootstrap:      1
camera_height_off_ground_m:        0.085
enable_init_while_moving:         0
cam_imu_timeshift_s:               0.000
cam_imu_timeshift_s_uncertainty:   0.000
T_cam_wrt_imu_uncertainty:         0.001  0.001  0.001
R_cam_to_imu_uncertainty:          0.005  0.005  0.005
accl_fsr_ms2:                     156.000
gyro_fsr_rad:                     34.000
accl_noise_std_dev:                0.316
gyro_noise_std_dev:                0.010
cam_noise_std_dev:                100.000
min_std_pixel_noise:               0.500
fail_high_pixel_noise_points:      1.665
limited_imu_bw_trigger:           25.000
gps_imu_time_alignment_s:          0.000
T_gps_wrt_imu:                     0.000  0.000  0.000
enable_mapping:                   1
enable_gps_vel:                   0
en_auto_reset:                    1
auto_reset_max_velocity:          10.000
auto_reset_max_v_cov_instant:      0.100
auto_reset_max_v_cov:              0.010
auto_reset_max_v_cov_timeout_s:    0.500
auto_reset_min_features:          3
auto_reset_min_feature_timeout_s:  1.000
en_standby_mode:                  1
standby_skip_frames:              1
mask_file_path:                   
vio_cam config:
cam 0:
    enable:                1
    name:                  tracking_front
    pipe_for_preview:      tracking_front
    pipe_for_tracking:     tracking_front_misp_norm
    is_occluded_on_ground: 0
    imu:                   imu_apps
    is_extrinsic_present:  1
    extrinsic cam wrt imu:
    parent:                imu_apps
    child:                 tracking_front
    T_cam_wrt_imu:         0.037   0.000   0.001 
    RPY_imu_to_cam:        0.0    90.0    90.0 
    R_cam_to_imu:          0.000  -0.000   1.000 
                           1.000   0.000  -0.000 
                          -0.000   1.000   0.000 
    cal file:              opencv_tracking_front_intrinsics.yml
    is_cal_present:        1
    cam cal intrinsics:
    width:                 1280
    height:                800
    fx:                    460.295
    fy:                    462.185
    cx:                    635.691
    cy:                    396.209
    n_coeffs:              4
    is_fisheye:            1
    D: 0.0752 -0.0103 0.0157 -0.0074 
=================================================================
existing instance of qvio-server found, attempting to stop it
thread is locked to cores: 4 5 6 7
waiting for imu
waiting for cam
connected to imu server
waiting for cpu_monitor
connected to camera server
Connected to cpu-monitor
Client requested hard reset
WARNING failed to init in time, trying again
WARNING failed to init in time, trying again
Client requested hard reset
WARNING failed to init in time, trying again
Client requested hard reset
Client requested hard reset

Still I am not able to get data from voxl-mapper. how can I use the vio data from open-vins-server rather qvio-server

voxl2:/$ voxl-mapper 
Loading our own config file
Loading extrinsics config file
existing instance of voxl-mapper found, attempting to stop it
Trying to init tsdf server
created tsdf server
waiting for server at /run/mpa/vvhub_body_wrt_fixed/
waiting for server at /run/mpa/tof
Connected to VIO server
Initializing ESDF structs
Connected to depth pipe
ESDF Thread is now locked to the following cores: 4 5 6
INFO waiting for VIO to start
INFO waiting for VIO to start
INFO waiting for VIO to start
INFO waiting for VIO to start
INFO waiting for VIO to start

@Alex-Kushleyev Thank you for the support. I will make the changes you have mentioned.

@Alex-Kushleyev Thank you for the help . I changed the parameter and now the ESC has been initialised. motor are able to rotate.
Also is there any other parameter i should be aware of

@Alex-Kushleyev here you had mentioned a version where the change has been made with respect to the delay.
https://forum.modalai.com/post/21951

@Alex-Kushleyev
https://github.com/modalai/px4-firmware/tree/voxl-fpv-dev

@Alex-Kushleyev
Yes it is running in the 250k baud rate.
I did not verify with the voxl-esc tools. I directly connected it to the FC.
I am using the voxl-fpv-dev version of px4

@Alex-Kushleyev

nsh> voxl_esc stop
ERROR [voxl_esc] timeout, forcing stop
ERROR [voxl_esc] failed restoring uart to original state
ERROR [voxl_esc] error closing uart
nsh> voxl_esc start
ERROR [px4_work_queue] wq:ttyS4 not available
ERROR [px4_work_queue] init failed
INFO  [voxl_esc] Starting VOXL ESC driver
INFO  [voxl_esc] Params: VOXL_ESC_CONFIG: 1
INFO  [voxl_esc] Params: VOXL_ESC_MODE: 0
INFO  [voxl_esc] Params: VOXL_ESC_BAUD: 250000
INFO  [voxl_esc] Params: VOXL_ESC_FUNC1: 101
INFO  [voxl_esc] Params: VOXL_ESC_FUNC2: 104
INFO  [voxl_esc] Params: VOXL_ESC_FUNC3: 102
INFO  [voxl_esc] Params: VOXL_ESC_FUNC4: 103
INFO  [voxl_esc] Params: VOXL_ESC_SDIR1: 0
INFO  [voxl_esc] Params: VOXL_ESC_SDIR2: 0
INFO  [voxl_esc] Params: VOXL_ESC_SDIR3: 0
INFO  [voxl_esc] Params: VOXL_ESC_SDIR4: 0
INFO  [voxl_esc] Params: VOXL_ESC_RPM_MIN: 5500
INFO  [voxl_esc] Params: VOXL_ESC_RPM_MAX: 15000
INFO  [voxl_esc] Params: VOXL_ESC_T_PERC: 90
INFO  [voxl_esc] Params: VOXL_ESC_T_DEAD: 20
INFO  [voxl_esc] Params: VOXL_ESC_T_EXPO: 35
INFO  [voxl_esc] Params: VOXL_ESC_T_MINF: 0.150000
INFO  [voxl_esc] Params: VOXL_ESC_T_COSP: 0.990000
INFO  [voxl_esc] Params: VOXL_ESC_VLOG: 0
INFO  [voxl_esc] Params: VOXL_ESC_PUB_BST: 1
INFO  [voxl_esc] Params: VOXL_ESC_T_WARN: 0
INFO  [voxl_esc] Params: VOXL_ESC_T_OVER: 0
INFO  [voxl_esc] Params: GPIO_CTL_CH: 0
nsh> 

can you verify whether it is a parameter related error. I have mentioned the parameters in the above thread.