Hii @Eric-Katzfey ,
I am trying to install the voxl-mainline-px4 package on a VOXL2 Mini (M0104) running VOXL SDK 1.6.3.

The installation fails due to a dependency on a newer version of libfc-sensor.

System information

• Hardware: VOXL2 Mini (M0104)
• SDK: 1.6.3
• Installed library:

libfc-sensor 1.0.9

Command used

sudo dpkg -i voxl-mainline-px4_1.17.0-1.0.2-202602240859_arm64.deb

Error

voxl-mainline-px4 depends on libfc-sensor (>= 1.0.10); however:
Version of libfc-sensor on system is 1.0.9.

Package metadata

Running dpkg -s voxl-mainline-px4 shows:

Depends:
libfc-sensor (>= 1.0.10),
voxl-px4-params (>= 0.3.10),
voxl2-system-image (>= 1.5.4),
modalai-slpi (>= 1.1.16)

Repository check

The SDK repository only provides:

libfc-sensor 1.0.9

apt-cache policy libfc-sensor
Installed: 1.0.9
Candidate: 1.0.9

Question

How to solve this issue???

Thanks.

Hi ModalAI Team,

I am working with a VOXL2 Mini test fixture (TF-M0104) and trying to integrate a VL53L1X ToF rangefinder with PX4 for altitude hold / height-above-ground estimation.

My goal is for PX4 EKF2 to fuse the rangefinder data so that the drone can use the sensor for altitude estimation (dist_bottom / HAGL).

Sensor configuration:

/etc/modalai/voxl-rangefinder-server.conf

{
"i2c_bus": 0,
"vl53l1x_timing_budget_ms": 50,
"id_for_mavlink": 0,
"sensors": [{
"enabled": true,
"sensor_id": 0,
"type": "TOF_VL53L1X",
"fov_deg": 15,
"range_max_m": 3,
"location_wrt_body": [0,0,0],
"direction_wrt_body": [0,0,1],
"is_on_mux": false
}]
}
PX4 parameters
EKF2_HGT_REF = 2
EKF2_RNG_CTRL = 1
EKF2_RNG_A_HMAX = 11.5 ft
SENS_EN_VL53L1X : 1
Sensor data received in PX4
px4-listener distance_sensor

current_distance: 0.62
signal_quality: 100
orientation: 25

So PX4 is receiving the rangefinder data correctly.

However, when I check:

voxl2-mini-test-fixture (TF-M0104):/etc/modalai$ px4-listener vehicle_local_position

TOPIC: vehicle_local_position
vehicle_local_position
timestamp: 1258315007 (0.002534 seconds ago)
timestamp_sample: 1258313140 (1867 us before timestamp)
ref_timestamp: 0
ref_lat: nan
ref_lon: nan
x: -58.15529
y: -29.38294
z: -43.47373
delta_xy: [-8.27161, 3.48610]
delta_z: 0.00000
vx: -5.77044
vy: -8.23159
vz: 0.09748
z_deriv: 0.09754
delta_vxy: [-0.89175, 1.40937]
delta_vz: 0.65828
ax: 1.33592
ay: -1.74908
az: 0.01860
heading: 2.12604
delta_heading: 1.62808
ref_alt: nan
dist_bottom: 0.10000
eph: 0.61074
epv: 0.20321
evh: 0.41361
evv: 0.11114
vxy_max: inf
vz_max: inf
hagl_min: inf
hagl_max: inf
xy_valid: True
z_valid: True
v_xy_valid: True
v_z_valid: True
xy_reset_counter: 32
z_reset_counter: 6
vxy_reset_counter: 37
vz_reset_counter: 26
heading_reset_counter: 17
heading_good_for_control: False
xy_global: False
z_global: False
dist_bottom_valid: False
dist_bottom_sensor_bitfield: 0
dead_reckoning: True

which means EKF2 is not fusing the rangefinder measurement.

Am I missing any configuration steps to enable rangefinder fusion for altitude hold on VOXL2?

Hii @Eric-Katzfey we wanted to confirm whether ModalAI has a recommended parameter set or procedure to achieve a smooth transition between outdoor and indoor flight on VOXL 2 mini ??

What is the recommended workflow to switch between usb0 and wlan0 ????
as when i tried to use voxl-wifi in station mode ,it configured succesfully.
But current IP is still:
voxl2-mini-test-fixture (TF-M0104):~$ voxl-my-ip
usb0: 192.168.7.2
voxl2-mini-test-fixture (TF-M0104):~$

Thankyou so much @Alex-Kushleyev
This setup solves my use case where Wi-Fi is not available. Thanks for the support — looking forward to the scripted version in the future.

Best regards,
Sarika

Hii @Alex-Kushleyev , Thankyou so much for your time...
Previously, I said 4 cameras are detected and working properly only with M0135 interposer not with M0084 flex cable and the screenshot above is taken while using M0084 flex cables that's why only 3 cameras are detected out of 4 and hires is not streaming.

@Alex-Kushleyev

@Alex-Kushleyev Hi ,

Thanks for the explanation.
I tested this on VOXL2 Mini and can confirm the following observations:
With kernel 2.0.0, all 4 cameras are detected correctly, but only with the specific hardware configuration below.

Working hardware configuration:

J6 → M0135

JL: HiRes

JU: Tracking

J7 → M0135

JL: Tracking

JU: PMD-ToF

In this configuration, all four cameras are detected successfully.

Additional observation regarding M0084 flex cables(with kernel 2.0.0):
I have two different M0084 flex cables, and I’m seeing :

With one M0084 cable, the HiRes camera is detected, but no high-resolution stream appears in voxl-portal.

With the other M0084 cable, the HiRes camera is not detected properly. The voxl-camera-server log shows:

Starting Camera: hires (id #0)
ERROR: Camera 0 failed to find supported stream config: 1024x768
WARNING: Failed to start cam hires due to invalid resolution
WARNING: assuming cam is missing and trying to compensate

@modaltb Hii, is there any update on this?

@Alex-Kushleyev Hii, Kindly look at the hardware configuration .
I am only able to detect 2 cameras out of 4 cameras .
Hires and one out of 2 tracking are not detected.