Hi @pfranklin ,
Sorry for the lag.
The VOXL 2 architecture has a few processors, the I2C on the 5G modem port is mapped to the applications processor. The I2C we use by default in PX4 is connected to a DSP (image here https://docs.modalai.com/images/voxl2/m0054-px4-block-diagram-0.4.png).
For each driver we've used on the DSP, we've had to make a few small mods to get going. Here's an example of an I2C driver we use on the DSP for talking to a baro:
https://github.com/modalai/px4-firmware/tree/voxl-dev/src/drivers/barometer/icp10100
It's enabled in the build here:
https://github.com/modalai/px4-firmware/blob/voxl-dev/boards/modalai/rb5-flight/qurt.cmake#L55
Are you already using J19 pins 3 and 4? If not we could hijack those from the mag driver perhaps and you could use the sensor there.
