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?

@Alex-Kushleyev , I tested the turtle mode out and it is working fine.

Once the approach for LEDs are shared, I will test it out .

I had an additional query, while we are using Telem for FCV2 and ESC communication. Will the PWM output (8 pinout) still be transmission and can we access the data.

@Alex-Kushleyev I have not tested turtle mode with Voxl2 - FCV2 setup. I have tested with the Voxl2, internal PX4 server.
I will test it out and get back to you.

@Alex-Kushleyev Thanks for the help. I will also test it out and get back with the results as soon as the approach is shared.
Can you also help me with finding clarity whether turtle mode will be affected by this setup.

@Alex-Kushleyev
just a thought, the data from Voxl2 is transfered to FC. so you can convert them to specific msg type and forward it to external FC and External FC already has modal-io-bridge, it can forward the data to ESC. There will be need of conversion of msg types multiple places, for handling and forwarding.
the External Fc has turtle mode running on it, will it setup affect it.

@Alex-Kushleyev ,
Thanks for the clarity, I also went through the same process and was not able to find any way to forward the message to ESC through external FC.
If you could help with a work around this approach it will be really helpful. I can test it out and get back to you.

@Alex-Kushleyev thanks again. can you check this out.
As mentioned the messages needs to be converted to mavlink message. Will mavlink message be handled by VOXL-ESC and will it trigger the voxl-send-neopixel-cmd and turn on the LEDs? I guess multiple conversion of message types might be required.

Also there is voxl-io driver link running in the VOXL FCV2. It should help voxl FCV2 to handle the data from VOXL2 and pass it to the VOXL FPV ESC.

There are 2 PWM outputs link that are independent, can we send a trigger message from VOXL2 Board to the VOXL FCV2 and FC will send the message to VOXL FPV ESC and give PWM output. Using the voxl-send-pwm-cmd command.

@Alex-Kushleyev Thank you for reverting. I tested it out and the ESC is powered. The TELEM1 port is connected to VOXL2 board and TELEM2 port to the Flight Core FCv2 board. I used the PX4 firmware modalai_fc-v2_1.14.0-8.93.1.px4 from the ModalAI build and setup the necessary parameters following documentation. The VOXL ESC is recognising the data from FC autopilot and the LED blinking sequence starts.

I have few more queries,
In the coming days I'll be upgrading to VOXL-FPV ESC. Can I follow the same wiring setup for this as well?

I had an additional query link, you had mentioned not able to run any python tool files, but since voxl-send-neopixel-cmd is in C/C++, it should be working.

Also, will this setup affect the turtle mode implementation.

@KnightHawk you may consider reflashing your SDK image if feasible to mark out things.

Hello @Alex-Kushleyev @tom @Vinny @Eric-Katzfey,
@modaltb @Chad-Sweet
In my setup, I'm having

-> Compute - VOXL2
-> FC - Flight Core V2
-> ESC - VOXL ESC 4-in-1
-> Firmware - PX4 1.15.2

I'm connecting a VOXL2 to external Flight Controller Flight Core V2. My ESC is connected to Flight Core V2 through the M0063 cable setup.

I'm connecting external Flight Core V2 to VOXL2 using the M0054 Cable connector setup but only connected to TELEM1 port at autopilot end.

Also as per the ModalAI Documentation, I have changed the voxl-mavlink-server to enable external autopilot functionality. When I connect to QGC on host computer, I'm able to connect to Flight Core V2 and see parameters on the autopilot.

But when I setup the VOXL ESC parameters also as per the documentation stated here, I still not able to make it clearly if Flight Core is communicating with VOXL ESC or not.

From VOXL2 I'm trying to run VOXL-ESC commands also,

This is the terminal output,

voxl2:/$ voxl-esc
 
What do you want to do?
1) scan         	3) spin      	5) upload_params
2) detect     	4) upgrade_firmware
#? 1
enabling bridge
detected voxl-px4 is enabled
Removed /etc/systemd/system/multi-user.target.wants/voxl-px4.service.
detected voxl-px4 is running, stopping it now
Sending kill slpi command!
bridge enabled
Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00)
[GCC 8.4.0]
Found voxl-esc tools bin version: 1.9
VOXL Platform: M0054
Detected RB5 Flight, VOXL2 M0054 or M0104!
INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 2000000
Sending library name request: libslpi_qrb5165_io.so
Sending initialization request
INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400
Updated baud rate to 230400
WARNING: No ESC(s) detected
VOXL Platform: M0054
Detected RB5 Flight, VOXL2 M0054 or M0104!
INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 250000
INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400
Updated baud rate to 230400
WARNING: No ESC(s) detected
VOXL Platform: M0054
Detected RB5 Flight, VOXL2 M0054 or M0104!
INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 921600
INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400
Updated baud rate to 230400
WARNING: No ESC(s) detected
VOXL Platform: M0054
Detected RB5 Flight, VOXL2 M0054 or M0104!
INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 57600
INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400
Updated baud rate to 230400
WARNING: No ESC(s) detected

ERROR: not all ESCs found
FAILED to ping ESCs when calling scan script
disabling bridge
Sending kill slpi command!
re-enabling voxl-px4
Created symlink /etc/systemd/system/multi-user.target.wants/voxl-px4.service → /etc/systemd/system/voxl-px4.service.
restarting voxl-px4
bridge disabled
DONE

Now how do I confirm if my Flight Core V2 is communicating VOXL ESC?

Also, I'm following the setup from the this documentation from ModalAI.

Also can I check using voxl-esc tools from VOXL2 to check the status of ESC in this setup?

@Jeremy-Frederick Thanks for reverting. In your setup do you have the Radio directly paired or connected with ground unit of the MH carrier without having to any other workarounds?