Is there a way to access the kernel serial debug port on M0090? It seems there are FTDI components but they are not populated.

@tahawaru Here is some documentation on configuring VIO https://docs.modalai.com/flying-with-vio/

PX4 does not currently handle GPS and VIO concurrently. It is something that we have worked with the PX4 developers on for more than 2 years.

It's a complicated problem though that we keep working to improve. To start experimenting, and hopefully helping to develop that feature, read through PX4's documentation on EKF2.

To debug VIO, look to this area of the documentation specifically https://docs.modalai.com/flying-with-vio/#troubleshooting-vio

@Jetson-Nano Looks like MPC_POS_MODE is needed as well per the documentation https://docs.px4.io/main/en/computer_vision/collision_prevention.html

voxl-mapper has been working on VOXL 2 for about a year. It should work out of the box on a Starling.

What you may be referring to is better documentation for using with stereo sensors instead of TOF sensors, but in general the voxl-mapper package is working.

This video shows how it works - https://www.youtube.com/watch?v=gqlSKRP8prc&ab_channel=ModalAI

When making a request for support, there are some key pieces of information that really help speed up the support process. Please try to include the following when making a request:

• What hardware are you using? If you have specific SKU or serial number, that is also helpful
• What version of software are you using? voxl-version is very helpful for determining software version.
• How have you configured the software? What is the output of voxl-inspect-services
• Do you have any logs? Uploading PX4 logs to https://logs.px4.io can be very helpful. See details on PX4 logs here
• Can you share pictures of your setup?
• Have you looked at the source code? If so, can you point to any potential issues?

If you see the sensor in the portal, you have the sensor configured properly.

By fails to calibrate, are you using voxl-camera-calibration ?

if you viewed the data through voxl-portal, it would already be rotated properly.

The Starling's extrinsic parameters can be found here, which should help you configure your URDF

@Amir-Avni On VOXL 2, voxl-mapper runs < 10% of CPU in typical configurations, on VOXL 1 < 30% of CPU

@Sanket-Shah voxl-inspect-cam can be used to verify it's working and see related stats. You need a GUI of some kind to actually view the image, which requires a network

@tiralonghipol if you viewed the data through voxl-portal, it would already be rotated properly. It's not clear which viewer you are using for the data.

The Starling's extrinsic parameters can be found here, which should help you configure your tools

We plan to make a version available with a thermal camera in the summer of 2025. It may be subject to export controls

1. Which Microhard units do you recommend for reliable integration with the VOXL m500 (both for the air unit and the ground unit)?

2. Could you provide a complete wiring map or diagram showing how to physically connect the Microhard modem to the VOXL board, including power supply details and which ports to use?

   • This will help us avoid trial-and-error and ensure correct setup.

3. Do you provide flash files or firmware for the Microhard air and ground units that are configured to work with the m500 out of the box?

   • If not, can you supply support through what’s needed to configure both units manually?

4. Do you provide documentation that explains how to access and configure the Microhard units via their IP interfaces?
   Specifically, we’re looking for a step-by-step guide (PDF or otherwise) that shows how to:

• Enter the Microhard configuration interface (e.g., IP address access)
• Set communication parameters and network settings
• Pair the air and ground units to establish a working link

@claw what does lsusb report?

@Randy-Mackay Do you know which version of the VOXL SDK is being used? We have recently transitioned over from voxl-qvio-server to voxl-openvins-server for VIO. OpenVINS is open source, so we have been investing our time there. Qvio is closed source and we can't really update the internals.

@victochen We are announcing products that will address this next week at Xponential, stay tuned!

@astro_phil what do you mean by position control? How are you achieving your position estimate? If it's VIO, we achieve <1cm drift in position hold on our drone platforms

https://docs.modalai.com/flying-with-vio/#troubleshooting-vio

@inteous yes, there are a number of considerations

Please see:
https://docs.modalai.com/configure-extrinsics/
https://docs.modalai.com/calibrate-cameras/

@swickliff can you help with the config you are trying to achieve? we can review and see if it's possible first

Do the cameras have 3-axis stabilization?
No

Maximum resolution of video streaming?
4k video recording is supported

Any specific information related onboard processing?
VOXL 2 is the onboard computing, this may be helpful https://docs.modalai.com/voxl2-feature-matrix/

From an inbound email:

Do the cameras have 3-axis stabilization?
Maximum resolution of video streaming?
Any specific information related onboard processing?