ModalAI Forum

Jetson Nano

@moderator

Thank you very much for your detailed explanation of the VOXL 2 Mini ToF sensor.

This information will greatly assist us in finalizing our approach for integrating the sensor into our UAV platform.

Thank you once again for your continued support and guidance.

Jetson Nano

@Robbie-McCue

Thank you for your feedback I will look into this.

Jetson Nano

@Alex-Kushleyev @Eric-Katzfey

I would appreciate any guidance from the ModalAI team or community regarding third-party radio and VTX integration with VOXL2, as this information will help us finalize our system architecture.

Thank you for your support and guidance.

Jetson Nano

@Alex-Kushleyev @Eric-Katzfey

I would appreciate any updates or recommendations regarding the integration and availability of the M0189 VOXL 2 Mini ToF sensor.

Thank you for your continued support.

Jetson Nano

Hello @Alex-Kushleyev and @Eric-Katzfey,

I hope you are doing well.

I recently came across the updates regarding the M0189 VOXL 2 Mini ToF sensor, and I am interested in evaluating it for integration into our UAV platform based on VOXL2 mini.

We are currently planning to work on VOXL2 mini-based system and are exploring additional sensing solutions for obstacle detection, terrain following, and navigation-related applications. The Mini ToF sensor appears to be a promising option, and I would like to gather some additional information regarding its integration and availability.

Could you please provide guidance on the following:

Integration Guidelines
- Recommended hardware connections and interfacing requirements with VOXL2 mini.
- Software and SDK support available for the sensor.
- Any required drivers, services, or configuration steps within the VOXL SDK.
- Best practices for mounting, calibration, and deployment on UAV platforms.
- Available documentation, reference designs, or example projects demonstrating integration with VOXL2 mini.
Sensor Performance and Use Cases

*Typical operating range and field-of-view specifications.
- Expected performance in outdoor environments and varying lighting conditions.
- Any known limitations or considerations for autonomous flight applications.
- Whether the Mini ToF sensor provides 2D ranging data (single-point or multi-zone distance measurements) or a 3D depth map / point cloud output. If 3D depth information is available, could you please provide details regarding the depth resolution, output format, field of view, and any supported visualization or processing tools within the VOXL ecosystem?
Availability and Purchasing
- Current availability status of the M0189 VOXL 2 Mini ToF sensor board.
- Recommended purchasing channels and lead times.
- Whether the sensor is available as a standalone module or requires additional interface hardware.

We are currently evaluating sensors for integration into our UAV platform and would appreciate any documentation, recommendations, or resources that could help us better understand the capabilities and integration process of the Mini ToF sensor with VOXL2 mini.

Thank you for your time and support.

I look forward to your guidance.

Jetson Nano

Hello @Alex-Kushleyev and @Eric-Katzfey,

I have a few questions regarding the integration of third-party communication modules with the VOXL2 platform.

We are currently using VOXL2 in our UAV and would like to integrate third-party radio and video transmission systems.

Radio Integration

We are considering using the Silvus StreamCaster Lite 5200 as the air-side radio. Could you please let us know:

Whether the VOXL2 system is compatible with the Silvus StreamCaster Lite 5200.
If there are any recommended integration guidelines, interfaces, configuration requirements, or best practices for using this radio with VOXL2.

Video Transmission (VTX) Integration

We would also like to integrate a third-party video transmission system while continuing to use the camera configuration available on VOXL2.

Could you please advise:

Whether VOXL2 supports integration with third-party VTX systems.
If there are any recommended or validated VTX solutions that are known to work well with VOXL2.
Any available documentation or integration guidelines for such configurations.

We would appreciate any recommendations or references that could help us evaluate these options for our current system configuration.

Thank you for your support and guidance.

Jetson Nano

@Alex-Kushleyev @Eric-Katzfey @Vinny @modaltb
Hi guys,
I had some queries regarding VOXL 2 MINI, ESC, camera break out board and flight core v2

Is Doodle Lab module compatible with the companion board, any additional board required?
Is there any way I can connect ARK optical flow to the voxl 2 mini?
I saw the camera breakout board comes with and without barometer, under what conditions does it help?
Is the VOXL ESC 4 in 1 mini with built in power module, handle a 1.5 kg drone?
I realized the flight core v2 is EOL, are you guys releasing new version?

Thank you for your time. Looking forward to hearing from you guys.

Jetson Nano

@Sean-Hickey

I tested with this firmware modalai_fc-v2_1.14.0-2.0.133.px4 from (http://voxl-packages.modalai.com/dists/fc-v2/sdk-1.6/ ) and it worked, but there is no uavcan thats the only problem.

I checked with the parameters you mentioned.

When i reduce the cp_dist it stops working but with 1.5 m it is working.

Jetson Nano

@Sean-Hickey
sorry to disturb you again .
I am not able to flash with the deb file, could you please share the .px4 file

Jetson Nano

@Eric-Katzfey UAVCAN is working in the latest versions, when enabled. And yes I meant heading error, thats my mistake.
The collision prevention is the major issue I am having.
The heading error is in the latest version, and I also came across it in the issues section and it was shown solved, but I did not test it out still with VIO, I was testing with only Optical flow and it was not working.

Jetson Nano

@Sean-Hickey
I already checked with changing the MPC_POS_MODE, did not work.

Could you share the file, I would like to test it out.

Jetson Nano

@Sean-Hickey that great, just making sure, did you use optical flow with FC?

Also could you let me know which branch you used, or the Px4 built file. i want to test it out in my setup.

Jetson Nano

@Sean-Hickey I am using M0178

Jetson Nano

@Sean-Hickey PMD tof that comes with yellow board M0173 - https://docs.modalai.com/M0173/

Yes optical flow is facing down, it is used for position hold and not for collision prevention.

Jetson Nano

@Sean-Hickey I am using the optical flow sensor for position hold, it is attached directly to the FC.

I am getting the obstacle_distance messages from the TOF sensor and I am able to see it.
I did check with 1 m cp_dist and it was not working.

Jetson Nano

@Eric-Katzfey
I am able to build, my build is not able to have both collision prevention and uavcan working. if i go to the latest version the hearding error is showing up, prearm check is not passing.

I checked with px4 mainline as well as modalai fork,

branches including - voxl-fpv-dev, version 1.17-dev
main branches - release/1.17, 1.16, 1.15

None of the above have the UAVCAN enabled, I do it manually, and the UAVCAN error is solved.

If you could guide me to a version of PX4 where both of this works with Flight core v2, or share the px4 build, if you have it working, i could test it out .

Jetson Nano

@Eric-Katzfey @Alex-Kushleyev

I have the ark flow MR attached to the FC. While I want to check the standard builds, the standard build do not have UAVCAN modules enabled. i have to enable them manually.

If anyone could share the built px4 file for the ModalAi FC v2 along with UAVCAN enabled and collision prevention working, It would mean alot.

Jetson Nano

@Eric-Katzfey I will do that.

Jetson Nano

@Eric-Katzfey @Alex-Kushleyev

I have the ark flow MR attached to the FC. While I want to check the standard builds, the standard build do not have UAVCAN modules enabled. i have to enable them manually.

If anyone could share the built px4 file for the ModalAi FC v2 along with UAVCAN enabled and collision prevention working, It would mean alot.

Jetson Nano

@Alex-Kushleyev @Eric-Katzfey @Vinny

I am using modalai fc v2 with voxl 2 , i am able to see the obstacle_distance message publishing in the mavlink console, but the drone is not slowing down or stopping.

the parameters are
mpc_pos_mode - acceleration based
cp_dist - 1 m
cp_no_go_data - enabled
cp_angle - 0

I checked with various builds and versions of PX4 from both PX4 github and Modalai github.

can anyone help me with which version or fork it works.

nsh> listener obstacle_distance

TOPIC: obstacle_distance
 obstacle_distance
    timestamp: 178940124 (0.026434 seconds ago)
    increment: 10.00000
    angle_offset: 0.00000
    distances: [236, 237, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001]
    min_distance: 0
    max_distance: 2000
    frame: 12
    sensor_type: 4

nsh> listener obstacle_distance 10

TOPIC: obstacle_distance
 obstacle_distance
    timestamp: 184239763 (0.014512 seconds ago)
    increment: 10.00000
    angle_offset: 0.00000
    distances: [236, 236, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001]
    min_distance: 0
    max_distance: 2000
    frame: 12
    sensor_type: 4

nsh> listener obstacle_distance 10

TOPIC: obstacle_distance
 obstacle_distance
    timestamp: 199589325 (0.028254 seconds ago)
    increment: 10.00000
    angle_offset: 0.00000
    distances: [236, 236, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001]
    min_distance: 0
    max_distance: 2000
    frame: 12
    sensor_type: 4

nsh> listener obstacle_distance 10

TOPIC: obstacle_distance
 obstacle_distance
    timestamp: 204539470 (0.012805 seconds ago)
    increment: 10.00000
    angle_offset: 0.00000
    distances: [445, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001]
    min_distance: 0
    max_distance: 2000
    frame: 12
    sensor_type: 4

nsh> listener obstacle_distance 10

TOPIC: obstacle_distance
 obstacle_distance
    timestamp: 206838947 (0.036977 seconds ago)
    increment: 10.00000
    angle_offset: 0.00000
    distances: [435, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001]
    min_distance: 0
    max_distance: 2000
    frame: 12
    sensor_type: 4

nsh> listener obstacle_distance 10

TOPIC: obstacle_distance
 obstacle_distance
    timestamp: 208539592 (0.000817 seconds ago)
    increment: 10.00000
    angle_offset: 0.00000
    distances: [436, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001]
    min_distance: 0
    max_distance: 2000
    frame: 12
    sensor_type: 4

nsh> listener obstacle_distance 10

TOPIC: obstacle_distance
 obstacle_distance
    timestamp: 210039039 (0.006330 seconds ago)
    increment: 10.00000
    angle_offset: 0.00000
    distances: [435, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001]
    min_distance: 0
    max_distance: 2000
    frame: 12
    sensor_type: 4

nsh> listener obstacle_distance 10

TOPIC: obstacle_distance
 obstacle_distance
    timestamp: 223538159 (0.007192 seconds ago)
    increment: 10.00000
    angle_offset: 0.00000
    distances: [114, 102, 98, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 129, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001]
    min_distance: 0
    max_distance: 2000
    frame: 12
    sensor_type: 4

nsh> listener obstacle_distance 10

TOPIC: obstacle_distance
 obstacle_distance
    timestamp: 225588237 (0.036362 seconds ago)
    increment: 10.00000
    angle_offset: 0.00000
    distances: [93, 90, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001]
    min_distance: 0
    max_distance: 2000
    frame: 12
    sensor_type: 4

nsh> listener obstacle_distance 10

TOPIC: obstacle_distance
 obstacle_distance
    timestamp: 227187560 (0.049067 seconds ago)
    increment: 10.00000
    angle_offset: 0.00000
    distances: [2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001]
    min_distance: 0
    max_distance: 2000
    frame: 12
    sensor_type: 4

nsh> listener obstacle_distance 10

TOPIC: obstacle_distance
 obstacle_distance
    timestamp: 228587517 (0.043813 seconds ago)
    increment: 10.00000
    angle_offset: 0.00000
    distances: [2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001, 2001]
    min_distance: 0
    max_distance: 2000
    frame: 12
    sensor_type: 4

nsh>

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Jetson Nano

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