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SDK 1.2.X Release Notes

Available now at https://developer.modalai.com/asset/

SDK 1.2 Support Matrix

PlatformPCB TargetsSupport Status
VOXL 2M0054-1, M0054-2, M0154-1, M0154-2
VOXL 2 MiniM0104-1
VOXLM0006-2
VOXL FlightM0019-2
Qualcomm Flight RB5M0052-2
Flight Core v2M0087-1
Flight Core v1M0018-1

The SDK-1.2.0 release on the QRB5165 platform use the 1.7.6 system image. See here for system image release notes.

Note: Updated Flight Core firmware is bundled in the APQ8096 SDK package and also available in the voxl-packages package repo here: http://voxl-packages.modalai.com/dists/

Don’t forget to flash your flight core through QGC (instructions here) with the new firmware.

Table of contents

  1. SDK 1.2.X Release Notes
  2. New Features in SDK 1.2.X
  3. SDK 1.2.0 Package List and Changelog
    1. SDK 1.2.0 Package List
    2. SDK 1.2.0 Full Changelog (from SDK 1.1.3)
  4. SDK 1.2.X Test Matrix
    1. SDK 1.2.0 Test Status

New Features in SDK 1.2.X

  • New Camera Support

    • liow2 ToF support
    • Improved calibration for ov9782 tracking cameras
  • PX4

    • Support for VIO waypoint missions without GPS
  • Other

    • voxl-gpio improvements, now allows gpio reads on output
    • M0154 support in voxl-bind-spektrum
    • VOXL2: Ghost RC support
    • Start and stop options for voxl-replay, support for RAW16 images
    • Mission start delay option
    • New page in voxl-portal to download systemd service journal logs
    • Allow second camera in stereo pair to be used by voxl-qvio-server

SDK 1.2.0 Package List and Changelog

SDK 1.2.0 Package List

Release date: April 15, 2024

Package list and changes from SDK-1.1.3 to SDK-1.2.0

PackageVersionAPQ8096QRB5165
apq8096-dfs-server0.3.1 (unchanged) 
apq8096-imu-server1.1.0 (unchanged) 
apq8096-libpng1.6.38-1 (unchanged) 
apq8096-rangefinder-server0.1.3 (unchanged) 
apq8096-system-tweaks0.2.3 (unchanged) 
apq8096-tflite2.8.3-1 (unchanged) 
libapq8096-io0.6.0 (unchanged) 
libfc-sensor1.0.5 (unchanged) 
libmodal-cv0.4.0 (unchanged)
libmodal-exposure0.1.0 (unchanged)
libmodal-journal0.2.2 (unchanged)
libmodal-json0.4.3 (unchanged)
libmodal-pipe2.9.2 –> 2.10.0
libqrb5165-io0.4.2 –> 0.4.5 
librc-math1.4.2 (unchanged)
libvoxl-cci-direct0.2.1 (unchanged)
libvoxl-cutils0.1.1 (unchanged)
modalai-slpi1.1.12 (unchanged) 
qrb5165-dfs-server0.2.0 (unchanged) 
qrb5165-imu-server1.0.1 (unchanged) 
qrb5165-rangefinder-server0.1.1 (unchanged) 
qrb5165-system-tweaks0.2.5 –> 0.2.6 
qrb5165-tflite2.8.0-2 (unchanged) 
voxl-bind-spektrum0.1.0 –> 0.1.1 
voxl-boost1.65.0 (unchanged) 
voxl-camera-calibration0.5.3 –> 0.5.4
voxl-camera-server1.8.9 –> 1.9.1
voxl-ceres-solver2:1.14.0-10 (unchanged)
voxl-configurator0.5.2 –> 0.5.6
voxl-cpu-monitor0.4.7 –> 0.4.8
voxl-docker-support1.3.0 –> 1.3.1
voxl-elrs0.1.3 (unchanged) 
voxl-esc1.4.0 (unchanged) 
voxl-feature-tracker0.3.2 (unchanged) 
voxl-flow-server0.3.3 (unchanged) 
voxl-gphoto2-server0.0.10 (unchanged)
voxl-jpeg-turbo2.1.3-5 (unchanged)
voxl-lepton-server1.2.0 (unchanged)
voxl-libgphoto20.0.4 (unchanged)
voxl-libuvc1.0.7 (unchanged)
voxl-logger0.3.5 –> 0.4.0
voxl-mapper0.2.0 (unchanged)
voxl-mavcam-manager0.5.3 (unchanged)
voxl-mavlink-server1.3.2 –> 1.4.0
voxl-modem1.0.8 –> 1.0.9
voxl-mongoose7.7.0-1 (unchanged)
voxl-mpa-tools1.1.3 –> 1.1.5
voxl-mpa-to-ros0.3.7 (unchanged)
voxl-mpa-to-ros20.0.2 (unchanged) 
voxl-neopixel-manager0.0.3 (unchanged)
voxl-nlopt2.5.0-4 (unchanged)
voxl-opencv4.5.5-2 (unchanged)
voxl-open-vins0.4.4 (unchanged) 
voxl-open-vins-server0.2.18 (unchanged) 
voxl-portal0.6.3 –> 0.6.5
voxl-px41.14.0-2.0.63 –> 1.14.0-2.0.68 
voxl-px4-imu-server0.1.2 (unchanged) 
voxl-px4-params0.3.3 –> 0.3.8 
voxl-qvio-server1.0.0 –> 1.0.2
voxl-remote-id0.0.9 (unchanged) 
voxl-ros2-foxy0.0.1 (unchanged) 
voxl-streamer0.7.4 (unchanged)
voxl-tag-detector0.0.4 (unchanged)
voxl-tflite-server0.3.1 –> 0.3.2
voxl-utils1.3.8 –> 1.3.9
voxl-uvc-server0.1.6 (unchanged)
voxl-vision-hub1.7.3 –> 1.7.4
voxl-voxblox1.1.5 (unchanged)
voxl-vpn0.0.6 (unchanged) 

SDK 1.2.0 Full Changelog (from SDK 1.1.3)

libmodal-pipe  (2.9.2 to 2.10.0)
2.10.0
    * add new tof2_data_t type for new PMD LIOW2 TOF sensor


libqrb5165-io  (0.4.2 to 0.4.5)
0.4.5
    * allow gpio reads on output
    * voxl-gpio improvements
0.4.4
    * fix bug where reading set direction
0.4.3
    * add missing dependency on libmodal-journal


qrb5165-system-tweaks  (0.2.5 to 0.2.6)
0.2.6
    * fix missing M0052 handling


voxl-bind-spektrum  (0.1.0 to 0.1.1)
0.1.1
    * add support for M0154 (GPIO 20)


voxl-camera-calibration  (0.5.3 to 0.5.4)
0.5.4
    * better intrinsic guess for ov9782 tracking cams


voxl-camera-server  (1.8.9 to 1.9.1)
1.9.1
    * liow2 tof
    * new royale support
1.9.0
    * targeted for SDK 1.2.x
    * swap to tof2_data_t type for tof publication to MPA
    * support for new voxl-fsync kernel module for synced cameras
    * temperarily add ar0144_slave drivers
    * new build dependency on voxl-cross:V2.7
    * (qrb5165) requires new system image with royale-5-8-spectre-6-10
1.8.10
    * fix cpu monitor not starting libmodalpipe helper (tof decimator feature)


voxl-configurator  (0.4.8 to 0.5.6)
0.5.6
    * apq bug fix
0.5.5
    * updated D0008-V4 support
0.5.4
    * extend transmitter handling
    * add ghost rc support
0.5.3
    * extend error handling
0.5.2
    * add experimental mode handling
    * add voxl-configure-open-vins framework
    * kill voxl-mavlink-server before setting px4 params
0.5.1
    * add support for fpv revb v4
    * remove px4 params file before seting up voxl-px4 to ensure no old params survive
0.5.0
    * fix D0013 board type
0.4.9
    * new cal file check for dual ar0144 cams


voxl-cpu-monitor  (0.4.7 to 0.4.8)
0.4.8
    * add perf mode config option


voxl-docker-support  (1.3.0 to 1.3.1)
1.3.1
    * fix apq missing system.slice error


voxl-esc  (1.3.7 to 1.4.0)
1.4.0
    * fix fpv m0138 params
1.3.9
    * add support for fpv v4
    * add "setup_starling_silver_motors" and "black motors" options
    * set cpu performance mode during firmware flash
1.3.8
    * put fpvrevB back to silent (no) startup chirp


voxl-logger  (0.3.5 to 0.4.0)
0.4.0
    * voxl-replay start and stop time options
    * tof2_data_t type support
0.3.12
    * fixed typo in info/json
0.3.11
    * added support for tof2 data type with automatic detection
    * added support for mavlink messages
0.3.10
    * fixed include/exclude bug
0.3.9
    * replaced timeout with -s/--start -f/--finish times
    * .clang-format added
0.3.8
    * added -t/--timeout functionality to voxl-replay
0.3.7
    * added population of camera info based on .csv values
0.3.6
    * added replay support for RAW16 images
    * added option to only replay certain pipes from log with -e option


voxl-mavlink-server  (1.3.2 to 1.4.0)
1.4.0
    * add mission delay feature
    * make detecting of autopilot sysid more robust
    * fix bug where autopilot reporting unix time of 0 breaks linux system time


voxl-modem  (1.0.8 to 1.0.9)
1.0.9
    * fix bug in microhard logic


voxl-mpa-tools  (1.1.3 to 1.1.5)
1.1.5
    * update to use new tof2_data_t type
    * add more data to voxl-inspect-tof
1.1.4
    * update FPV tracking extrinsics for new mount
    * add a downward tracking extrinsic for experimentation


voxl-portal  (0.6.3 to 0.6.5)
0.6.5
    * new page to download systemd service journals
    * updates to health check
0.6.4
    * migrate to new tof2_data_t type
    * auto restart service on crash


voxl-px4-params  (0.3.3 to 0.3.8)
0.3.8
    * update D0013 params
0.3.7
    * add D0008-V4 param file
0.3.6
    * add experimental section
0.3.5
    * D0008 to Lithium Ion battery
0.3.4
    * test and validate param reset option
    * make param uploading more robust


voxl-px4  (1.14.0-2.0.63 to 1.14.0-2.0.68)
1.14.0-2.0.68
    * A couple of voxl2_io driver updates to improve initial protocol check and calibration
1.14.0-2.0.67
    * Support for VIO waypoint missions without GPS. With or without magnetometer.
    * Miscellaneous HITL infrastructure improvements
1.14.0-2.0.66
    * Improved the timeout mechanism on the muorb aggregator to avoid unneeded data sends
    * Added the ORB queue length to the meta data so that it can be properly set by the UORB COMMUNICATOR interface code
    * Fixed missing queue length adjustment from remote topics
    * Added param client / server status values
    * Fixed a uORB / muorb subscription issue that was causing duplication of topic publication data
    * Added some useful statistics and status reporting to the muorb modules
    * add params and set flags in case of ESC warn and over temperature events (#53)
1.14.0-2.0.65
    * Updates to the voxl2_io version check to allow retries with eventual failure
1.14.0-2.0.64
    * 60k RPM support in voxl-esc driver
    * HITL parameters to control sending of sensor_gps and sensor_mag
    * GPS UBX driver changes for baudrate ordering, BBR writes, and retries to help with M10
    * Move time offset to apps side so that DSP is now the timing center.


voxl-qvio-server  (1.0.0 to 1.0.2)
1.0.2
    * expose the image mask feature in the config file
1.0.1
    * allow second camera of a stereo pair to be used
    * extend low-feature init timeout to 3s


voxl-tflite-server  (0.3.1 to 0.3.2)
0.3.2
    * add dynamic reading for number of yolo classes


voxl-utils  (1.3.8 to 1.3.9)
1.3.9
    * add libfc_sensor to voxl-version


voxl-vision-hub  (1.7.3 to 1.7.4)
1.7.4
    * update to use the new tof2_data_t type for TOF VOA

SDK 1.2.X Test Matrix

SymbolDefinition
Passed
In Progress
Failed or Not Supported

SDK 1.2.0 Test Status

ArchitectureDescriptionIndoor Test StatusOutdoor Test Status
D0001m500
D0003Seeker
D0004Qualcomm Flight RB5 5G Deprecated
D0005-4Starling
D0006-4Sentinel
D0011-4PX4 Autonomy Dev Kit, see: Starling
D0012-4Starling 2 Max, see: Starling
D0014-4Starling 2, see: Starling
D0015-4Fixed Wing (WIP)