The official product documentation is located at https://docs.modalai.com/

The purpose of this forum is to supplement that documentation, and to update the official docs when we find information missing.

Little more detail, we've validated with FrSky X8R reciever and Taranis X7 transmitter with the following setup:

We have a new cable about to come out to assist with this wiring as well:
https://docs.modalai.com/cable-datasheets/#mcbl-00018

Hi @Andrew-Keefe ,

Sounds like you are modifying source code ya?

If that's the case then you can start up the module by adding it here:
https://github.com/PX4/PX4-Autopilot/blob/master/boards/modalai/fc-v1/init/rc.board_sensors

Hi @jsauter ,

We haven't done extensive validation but 1kg (not inluding battery) should be fine.

I think it's going to be a coding effort on your end to get this going. It's not something that's used out of the box (e.g. route ESC voltage as a battery voltage).

My only experience has been when we created our power module driver, here:
https://github.com/PX4/PX4-Autopilot/tree/master/src/drivers/power_monitor/voxlpm

On the top of my head, you could modify the driver above, instead of querying I2C to our power module, you could just subscribe to your ESC messages in there, and covert that to a power monitor message perhaps!

More info:

https://docs.px4.io/master/en/config/battery.html

Hi @benjamin-linne can you please send an email off to

contact @ modalai . com

and we can work on resolving this.

Thanks!
Travis

Quick note: one could set px4 parameters from VOXL using the following tool:

https://docs.modalai.com/voxl-vision-px4-nuttx-shell/

Hi Pey,

Can you double check that the "offboard_mode" is set to "none" in the voxl-vision-px4 configuration file?

https://docs.modalai.com/voxl-vision-px4-other-features/

Hi Benjamin,

What you are doing sounds correct. We've had on occasion where ADB drops out during the flashing process, and the work around for that is to immediately turn the fastboot switch OFF after starting the flashing process.

I don't know if this will help but it might be worth trying, let us know if it doesn't and we can investigate further.

We can attempt to flash the image piece by piece as well, which I've seen get a device back up and running.

Hi Benjamin,

The architecture as it stands only interfaces via I2C to the power module included in the kit. There are no ADCs exposed out to pins that could be used.

If you are up to write your own driver, it would likely be possible to subscribe to that topic and then publish as a battery message, but this isn't something we have out of box support for.

Hi Pey,

Enabling VIO in voxl-vision-px4 will, at a high level, tell VOXL to use do the processing required and then send the appropriate MAVLink packets to PX4, but it doesn't set any parameters in PX4 (similar with VOA, where it sends object distance packets).

If PX4 params aren't setup to use VIO (e.g. EKF2_AID_MASK) then PX4 will ignore this. So you have to configure PX4, see this:
https://gitlab.com/voxl-public/px4-parameters/-/blob/master/helpers/ekf2_indoor_vio.params

If you want to use GPS for outdoor flights, you could use these settings for example:

https://gitlab.com/voxl-public/px4-parameters/-/blob/master/helpers/ekf2_outdoor_gps_mag.params

@Pey-Astig Yes it's possible. We'll have some docs up in a few days but connecting via USB to the flight controller, setting airframe to HIL, and adjusting these settings should get you going: