Thanks @Eric-Katzfey ! Here is the pinout for the dev board "UART" port that includes i2C_SCL and I2C_SDA.
The dev board pins 1-6 matching to J19 pins 1-6
We will give the COMPASS_DISBLMSK parameter a shot and see if that works.
Posts
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Using Here 4 Blue GPS into J19 on VOXL2 with Ardupilot -
Using Here 4 Blue GPS into J19 on VOXL2 with ArdupilotWe have a custom drone using VOXL2 as the flight controller and we are running Ardupilot. We are using the Here 4 Blue GPS connected to J19 over UART. We took off the cover of the Here4 and unplugged the CAN cable and we are using the dev board for now. We have the 10 pin connector on the dev board to the GPS, the dev board 6 pin UART goes to J19 on VOXL2 with pins 1-6 matching 1-6.
Mission Planner Parameters for Here 4 on VOXL2gps_drv_options: 4 gps1_type: 2 gps_save_cfg: 1GPS connection seems to be working fine but we are unable to get the Here4 compass/mag to work or be detected.
The Here4 has a RM3100 magnetic compass and ICM42688. What configuration changes do we need in order to get these sensors to work on the VOXL2?
Here are our versions:
voxl-version ──────────────────────────────────────────────────────────────────────────────── system-image: 1.8.04-M0054-14.1a-perf kernel: #1 SMP PREEMPT Mon Mar 24 22:31:58 UTC 2025 4.19.125 ──────────────────────────────────────────────────────────────────────────────── hw platform: M0054 mach.var: 1.0.1 SKU: MCCA-M0054-C11-T0-M0-X0 ──────────────────────────────────────────────────────────────────────────────── voxl-suite: 1.5.1 ──────────────────────────────────────────────────────────────────────────────── Packages: Repo: http://voxl-packages.modalai.com/ qrb5165 dev Last Updated: 2026-05-04 22:46:17 List: libfc-sensor 1.0.7 libmodal-cv 0.5.18 libmodal-exposure 0.1.4 libmodal-journal 0.2.6 libmodal-json 0.4.7 libmodal-pipe 2.14.12-202603091236 libqrb5165-io 0.5.0 libvoxl-cci-direct 0.3.3 libvoxl-cutils 0.1.5 modalai-slpi 1.2.0 mv-voxl 0.1-r0 qrb5165-bind 0.1-r0 qrb5165-dfs-server 0.2.0 qrb5165-imu-server 1.1.3 qrb5165-mini-tof-server 0.2.2 qrb5165-rangefinder-server 0.1.5 qrb5165-slpi-test-sig 01-r0 qrb5165-system-tweaks 0.3.6 qrb5165-tflite 2.8.0-2 voxl-ardupilot 4.8.0-325875bb voxl-bind-spektrum 0.1.1 voxl-camera-calibration 0.6.0 voxl-camera-server 2.2.4 voxl-ceres-solver 2:1.14.0-10 voxl-configurator 1.0.3 voxl-cpu-monitor 0.7.7-202601091810 voxl-docker-support 1.3.1 voxl-elrs 0.4.7 voxl-esc 1.5.4 voxl-feature-tracker 0.5.2 voxl-flow-server 0.3.6 voxl-gphoto2-server 0.0.10 voxl-joystick-server 0.0.6 voxl-jpeg-turbo 2.1.3-7 voxl-lepton-server 1.3.3 voxl-lepton-tracker 0.0.4 voxl-libgphoto2 0.0.4 voxl-libuvc 1.0.7 voxl-logger 0.5.3 voxl-mavcam-manager 0.6.0 voxl-mavlink 0.1.5 voxl-mavlink-server 1.4.15-202603130958 voxl-modem 1.1.8 voxl-mongoose 7.7.0-2 voxl-mpa-to-ros 0.3.9 voxl-mpa-tools 1.5.8 voxl-open-vins 0.4.19 voxl-open-vins-server 0.3.12 voxl-opencv 4.5.5-3 voxl-osd 0.1.8 voxl-portal 0.7.11 voxl-px4 1.14.0-2.0.105 voxl-px4-params 0.7.6 voxl-qvio-server 1.2.0 voxl-remote-id 0.0.9 voxl-reset-slpi 0.0.1 voxl-state-estimator 0.0.5 voxl-streamer 0.7.5 voxl-suite 1.5.1 voxl-tag-detector 0.0.5 voxl-tflite-server 0.4.1 voxl-utils 1.4.8 voxl-uvc-server 0.1.7 voxl-vision-hub 1.8.23 voxl-vtx 1.4.7 voxl-wavemux 0.0.1 voxl2-io 0.0.3 voxl2-system-image 1.8.04-r0 voxl2-wlan 1.0-r0 -
Hadron ov64b snapshots have a vertical image artifact@Alex-Kushleyev I tried to configure for raw capture but am getting an error with camera-server:
existing instance of voxl-camera-server found, attempting to stop it MISP awb str: auto Setting MISP AWB to Auto MISP channels enabled in defaults : 0 ERROR: object missing misp_channels MISP awb str: auto Setting MISP AWB to Auto MISP channels enabled in defaults : 0 ERROR: object missing misp_channels ================================================================= configuration for 2 cameras: cam #0 name: boson sensor type: boson isEnabled: 1 camId: 0 camId2: -1 fps: 30 en_rotate: 0 en_rotate2: 0 en_preview: 1 pre_width: 640 pre_height: 512 en_raw_preview: 1 en_small_video: 0 small_video_width: 640 small_video_height: 480 en_large_video: 0 large_video_width: -1 large_video_height: -1 en_misp: 1 misp_width: -1 misp_height: -1 en_snapshot: 0 snap_width: -1 snap_height: -1 exif_focal_length: 0.000000 exif_focal_len_35mm_format:0 exif_fnumber: 0.000000 ae_mode: off msv_exposure_min_us: 20 msv_exposure_max_us: 33000 gain_min : 54 gain_max : 8000 standby_enabled: 0 decimator: 1 independent_exposure:0 cam #1 name: hires sensor type: ov64b isEnabled: 1 camId: 1 camId2: -1 fps: 15 en_rotate: 0 en_rotate2: 0 en_preview: 1 pre_width: 9248 pre_height: 6944 en_raw_preview: 1 en_small_video: 0 small_video_width: 1024 small_video_height: 768 en_large_video: 0 large_video_width: 3840 large_video_height: 2160 en_misp: 1 misp_width: 1920 misp_height: 1080 en_snapshot: 0 snap_width: 9248 snap_height: 6944 exif_focal_length: 3.100000 exif_focal_len_35mm_format:17 exif_fnumber: 1.240000 ae_mode: lme_msv msv_exposure_min_us: 20 msv_exposure_max_us: 33000 gain_min : 100 gain_max : 32000 standby_enabled: 0 decimator: 1 independent_exposure:0 fsync_en: 0 fsync_gpio: 109 ================================================================= thread is locked to cores: 4 5 6 7 connected to mavlink pipe Connected to cpu-monitor Starting Camera: boson (id #0) gbm_create_device(156): Info: backend name is: msm_drm MISP Initializing!!! Detected 1 platform(s) Detected 1 GPU device(s) Starting Camera: hires (id #1) ERROR: Configure streams failed for camera: 1 ERROR: Failed to configure streams for camera: hires ERROR: Failed to start camera: hires ------ voxl-camera-server: Started 1 of 2 camerasvoxl-version:
system-image: 1.8.04-M0054-14.1a-perf kernel: #1 SMP PREEMPT Mon Mar 24 22:31:58 UTC 2025 4.19.125 ──────────────────────────────────────────────────────────────────────────────── hw platform: M0054 mach.var: 1.0.1 SKU: MCCA-M0054-C11-T0-M0-X0 ──────────────────────────────────────────────────────────────────────────────── voxl-suite: 1.5.1 ──────────────────────────────────────────────────────────────────────────────── Packages: Repo: http://voxl-packages.modalai.com/ qrb5165 dev Last Updated: 2026-03-18 19:55:21 List: libfc-sensor 1.0.7 libmodal-cv 0.5.18 libmodal-exposure 0.1.4 libmodal-journal 0.2.6 libmodal-json 0.4.7 libmodal-pipe 2.13.2 libqrb5165-io 0.5.0 libvoxl-cci-direct 0.3.3 libvoxl-cutils 0.1.5 modalai-slpi 1.2.0 mv-voxl 0.1-r0 qrb5165-bind 0.1-r0 qrb5165-dfs-server 0.2.0 qrb5165-imu-server 1.1.3 qrb5165-mini-tof-server 0.2.2 qrb5165-rangefinder-server 0.1.5 qrb5165-slpi-test-sig 01-r0 qrb5165-system-tweaks 0.3.6 qrb5165-tflite 2.8.0-2 voxl-ardupilot 4.8.0-325875bb voxl-bind-spektrum 0.1.1 voxl-camera-calibration 0.6.0 voxl-camera-server 2.2.4 voxl-ceres-solver 2:1.14.0-10 voxl-configurator 1.0.3 voxl-cpu-monitor 0.6.0 voxl-docker-support 1.3.1 voxl-elrs 0.4.7 voxl-esc 1.5.4 voxl-feature-tracker 0.5.2 voxl-flow-server 0.3.6 voxl-gphoto2-server 0.0.10 voxl-joystick-server 0.0.6 voxl-jpeg-turbo 2.1.3-7 voxl-lepton-server 1.3.3 voxl-lepton-tracker 0.0.4 voxl-libgphoto2 0.0.4 voxl-libuvc 1.0.7 voxl-logger 0.5.3 voxl-mavcam-manager 0.6.0 voxl-mavlink 0.1.5 voxl-mavlink-server 1.4.15-202603130958 voxl-modem 1.1.8 voxl-mongoose 7.7.0-2 voxl-mpa-to-ros 0.3.9 voxl-mpa-tools 1.4.0 voxl-open-vins 0.4.19 voxl-open-vins-server 0.3.12 voxl-opencv 4.5.5-3 voxl-osd 0.1.8 voxl-portal 0.7.11 voxl-px4 1.14.0-2.0.105 voxl-px4-params 0.7.6 voxl-qvio-server 1.2.0 voxl-remote-id 0.0.9 voxl-reset-slpi 0.0.1 voxl-state-estimator 0.0.5 voxl-streamer 0.7.5 voxl-suite 1.5.1 voxl-tag-detector 0.0.5 voxl-tflite-server 0.4.1 voxl-utils 1.4.8 voxl-uvc-server 0.1.7 voxl-vision-hub 1.8.23 voxl-vtx 1.4.7 voxl-wavemux 0.0.1 voxl2-io 0.0.3 voxl2-system-image 1.8.04-r0 voxl2-wlan 1.0-r0@Alex-Kushleyev said in Hadron ov64b snapshots have a vertical image artifact:
before saving the raw bayer, start the misp output stream, so that AE can actually process
what do you mean by start the misp output stream?
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Hadron ov64b snapshots have a vertical image artifact@Alex-Kushleyev thanks for your response!
I will try these suggestions and let you know how it goes.
I tested jpeg quality at 75 and 95 and did not notice much of a difference in sharpness.
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Hadron ov64b snapshots have a vertical image artifactWe have our VOXL2 with Hadron connected on J8. We have everything setup and can capture images successfully. After taking a bunch of images we noticed a vertical artifact in the hires_snapshot that consistently appears in the same column of pixels (~340).
Is this a data processing flaw? If so is there a way to diagnose / troubleshoot it? Here is my voxl-camera-server.conf and an example crop of the artifact.
{ "version": 0.1, "fsync_en": false, "fsync_gpio": 109, "cameras": [{ "type": "boson", "name": "boson", "enabled": true, "camera_id": 0, "fps": 30, "en_preview": true, "en_misp": false, "preview_width": 640, "preview_height": 512, "en_raw_preview": true, "en_small_video": false, "en_large_video": false, "ae_mode": "off", "en_rotate": false, "small_video_width": 640, "small_video_height": 480, "small_venc_mode": "h264", "small_venc_br_ctrl": "cqp", "small_venc_Qfixed": 30, "small_venc_Qmin": 15, "small_venc_Qmax": 40, "small_venc_nPframes": 9, "small_venc_mbps": 2, "small_venc_osd": false, "large_video_width": -1, "large_video_height": -1, "large_venc_mode": "h264", "large_venc_br_ctrl": "cqp", "large_venc_Qfixed": 40, "large_venc_Qmin": 15, "large_venc_Qmax": 50, "large_venc_nPframes": 29, "large_venc_mbps": 40, "large_venc_osd": false, "misp_width": -1, "misp_height": -1, "misp_venc_enable": true, "misp_venc_mode": "h264", "misp_venc_br_ctrl": "cqp", "misp_venc_Qfixed": 30, "misp_venc_Qmin": 15, "misp_venc_Qmax": 50, "misp_venc_nPframes": 29, "misp_venc_mbps": 2, "misp_venc_osd": false, "misp_awb": "auto", "misp_gamma": 1, "gain_min": 54, "gain_max": 8000 }, { "type": "ov64b", "name": "hires", "enabled": true, "camera_id": 1, "fps": 15, "en_preview": true, "en_misp": false, "preview_width": 1920, "preview_height": 1080, "en_raw_preview": false, "en_small_video": false, "en_large_video": false, "en_snapshot": true, "ae_mode": "isp", "gain_min": 100, "gain_max": 32000, "small_video_width": 1024, "small_video_height": 768, "small_venc_mode": "h264", "small_venc_br_ctrl": "cqp", "small_venc_Qfixed": 30, "small_venc_Qmin": 15, "small_venc_Qmax": 40, "small_venc_nPframes": 9, "small_venc_mbps": 2, "small_venc_osd": false, "large_video_width": 3840, "large_video_height": 2160, "large_venc_mode": "h264", "large_venc_br_ctrl": "cqp", "large_venc_Qfixed": 40, "large_venc_Qmin": 15, "large_venc_Qmax": 50, "large_venc_nPframes": 29, "large_venc_mbps": 40, "large_venc_osd": false, "en_snapshot_width": 9248, "en_snapshot_height": 6944, "exif_focal_length": 3.0999999046325684, "exif_focal_length_in_35mm_format": 17, "exif_fnumber": 1.2400000095367432, "snapshot_jpeg_quality": 75, "misp_width": -1, "misp_height": -1, "misp_venc_enable": true, "misp_venc_mode": "h265", "misp_venc_br_ctrl": "cqp", "misp_venc_Qfixed": 38, "misp_venc_Qmin": 15, "misp_venc_Qmax": 50, "misp_venc_nPframes": 29, "misp_venc_mbps": 30, "misp_venc_osd": false, "misp_awb": "auto", "misp_gamma": 1.6 }] }
Additionally - we are noticing a soft focus on every image. Are there any camera-server parameters for the Hadron that could lead to this sort of effect? Image EXIF shows:
9248 x 6944 72 dpi 24 bit 3.1 mm f/1.24 1/2500 ISO 54 EXP 0Lastly - are we able to capture RAW images from the hadron at full resolution?
Thanks!
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Trigger Hadron camera with DO_SET_CAM_TRIGG_DIST@Eric-Katzfey I configured the drone to have servo5 trigger the camera. When idle, servo 5 shows 1100. When triggered, it goes up to 1300. In the Mavlink messages I can now watch for SERVO_OUTPUT_RAW msg.servo5_raw and detect the rising edge which emulates the trigger.
msg = master.recv_match(type='SERVO_OUTPUT_RAW', blocking=True, timeout=2) if not msg: continue pwm = msg.servo5_rawI have done this on a ground station using pymavlink to listen for messages. What is the best way to listen for this mavlink message on the VOXL2? Reminder - I am using Ardupilot.
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Trigger Hadron camera with DO_SET_CAM_TRIGG_DIST@Eric-Katzfey We have the Hadron configured with voxl-camera-server.conf
"type": "ov64b", "name": "hires", .... "en_snapshot": true, ...so we can take images with
voxl-send-command hires_snapshot snapshotI would love to configure the camera in Ardupilot with CAM1_TYPE and set DO_SET_CAM_TRIGG_DIST to a distance interval that I will capture images at.
If that is not directly possible, could you help me with a way to create a sort of interface script that sits on VOXL2 that listens for GPIO relay triggers or something like that? Then I can just call the snapshot command when triggered.
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Trigger Hadron camera with DO_SET_CAM_TRIGG_DISTI have a VOXL2 running ardupilot and have a Hadron camera connected and configured with voxl-camera-server. I can take snapshots successfully.
I am trying to configure our drone to capture images at a specific distance interval during flight with the DO_SET_CAM_TRIGG_DIST parameter. Is there a way to do this with VOXL2 and ardupilot?
Thanks!
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Issues Streaming and Taking Snapshots Simultaneously with OV64B on VOXL2 (Hadron 640 Setup)@Alex-Kushleyev thank you! It works now.
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Issues Streaming and Taking Snapshots Simultaneously with OV64B on VOXL2 (Hadron 640 Setup)Hi,
I'm working with a VOXL2 and the FLIR Hadron 640 camera, and I'm trying to stream video from the OV64B sensor while taking snapshots at the same time.Initially, I attempted to use "en_preview": true along with "en_snapshot": true, but that configuration did not allow me to stream video. I assumed it might be a resolution constraint, so I modified the configuration to use "en_small_video": true and "en_snapshot": true instead.
Now I can stream video, and when I enter the following command:
voxl2:/data/snapshots$ voxl-send-command hires_snapshot
Successfully sent command to /run/mpa/hires_snapshot/control
In the voxl-camera-server terminal, I receive this error:
ERROR: Camera: hires got unknown Command:
However, when I enter:
voxl2:/data/snapshots$ voxl-send-command hires_snapshot snapshot-no-save
Successfully sent command to /run/mpa/hires_snapshot/control
The camera server shows:
------ voxl-camera-server: Camera server is now running
Camera: hires taking snapshot for pipe only (not saving it)
But I’m unable to access the snapshot data, even after running adb pull.
My Questions:
Is it possible to stream and take snapshots simultaneously on the OV64B?What does the error message “Camera: hires got unknown Command” mean?
How can I access the output of snapshot-no-save if it's not being saved to disk?
Thanks in advance for your help!
Below is my camera config code:
{
"version": 0.1,
"fsync_en": false,
"fsync_gpio": 109,
"cameras": [
{
"type": "boson",
"name": "boson",
"enabled": true,
"camera_id": 0,
"fps": 30,
"en_preview": true,
"en_misp": false,
"preview_width": 640,
"preview_height": 512,
"en_raw_preview": true,
"en_small_video": false,
"en_large_video": false,
"ae_mode": "off"
},
{
"type": "ov64b",
"name": "hires",
"enabled": true,
"camera_id": 1,
"fps": 15,
"en_preview": false,
"en_misp": false,
"preview_width": 1920,
"preview_height": 1080,
"en_raw_preview": false,
"en_small_video": true,
"small_video_width": 1024,
"small_video_height": 768,
"small_venc_mode": "h265",
"en_large_video": false,
"small_venc_br_ctrl": "cqp",
"small_venc_Qfixed": 30,
"small_venc_Qmin": 15,
"small_venc_Qmax": 40,
"small_venc_nPframes": 9,
"small_venc_mbps": 2,
"en_snapshot": true,
"en_snapshot_width": 1920,
"en_snapshot_height": 1080,
"ae_mode": "isp",
"gain_min": 54,
"gain_max": 32000
}
]
} -
Logging altitude and/or barometerI was wondering if there is a way to log altitude and/or barometer data similar to voxl-logger for imu data.
Thanks
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VOXL2 detected landing at ~27m altitude and cut motors@Alex-Kushleyev yes you can reference the log
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VOXL2 detected landing at ~27m altitude and cut motorsWe were attempting a tuning flight with a fresh rebuild and while checking stability all motors shut off, drone flipped and crashed inverted. Log attached, of note is in the logged messages "landing detected at 09:13 while it was approximately 27m in the air.
Hardware:
VOXL2
FPV ESC
Tmotor MN5006 450kv (params tuned for low kv)
Doodle Meshrider radio
Control via Jeti RC connected to GCS -
IO board for PWM output using the 4in1 ESC M0138-1@Alex-Kushleyev I found that the parameters were just not used and once I set them with
px4-param set PARAM_NAME param-valuethat they show up in QGCOne that I am still stuck on though. I am looking for a parameter
TRIG_PINSthat is not in the list of params inpx4-param show -aThe default is 56 and I need to know how to map the pins to the PWM expansion board. From px4 documentation:
TRIGGER_INTERFACE = 2
"Enables the Seagull MAP2 interface. This allows the use of the Seagull MAP2 to interface to a multitude of supported cameras. Pin 1 of the MAP2 should be connected to the lower AUX pin of TRIG_PINS (therefore, pin 1 to AUX 5 and pin 2 to AUX 6 by default). In this mode, PX4 also supports automatic power control and keep-alive functionalities of Sony Multiport cameras like the QX-1." -
IO board for PWM output using the 4in1 ESC M0138-1@Alex-Kushleyev I am looking to enable the seagull trigger in camera interfaces as shown here , but I do not see that option. I see that the interface is in the modalai repo but how do I enable it to show up in QGC?
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IO board for PWM output using the 4in1 ESC M0138-1@Alex-Kushleyev Okay I can do some searching for how to setup the trigger.
For the camera trigger.
Neutral state is 1500 microseconds
To trigger the camera, change the duty cycle to yield 1200 microseconds and hold that for one second before switching back to 1500 microsecondsIs that something that can be done?
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IO board for PWM output using the 4in1 ESC M0138-1@Alex-Kushleyev okay I upgraded px4 and updated the px4-start script - now see 8 pwm channels.
I need to configure the camera trigger as shown in the image below (it is shown in mission planner and I am not sure how to do it in QGC)
Can you please explain how I can configure the PWM output to trigger a shutter "pushed".
Thanks!
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IO board for PWM output using the 4in1 ESC M0138-1@Alex-Kushleyev we are all good on the RC front. We have the PWM expansion board and are trying to understand how to configure QGC. In the actuators tab, the I/O board is recognized but in the VOXL2 IO output tab it only shows 4 pwm channels that are all set to motors (which we don’t need). How can we use one of the other channels or configure one of the first 4 to provide a standard PWM that we can use for our camera trigger interface?
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IO board for PWM output using the 4in1 ESC M0138-1@Alex-Kushleyev yes I am looking to output standard PWM signals. We have the VOXL2 I/O expander board (MDK-M0065). We originally got it for RC connection but we’re also hoping to use the PWM capability for camera triggering.
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IO board for PWM output using the 4in1 ESC M0138-1@Alex-Kushleyev I would like to use the IO board to output a PWM for this camera trigger adapter. I do not need it to control motors as we are using the FPV 4in1 ESC.
Can you please give me instructions on how to configure voxl and QGC to output the PWM? Do I need to upgrade the IO board firmware?
Thanks
