VOXL Utilities

Table of contents

  1. Overview
  2. voxl-wifi
  3. voxl-env
  4. voxl-hwscan (Work in Progress)
  5. voxl-perfmon
  6. voxl-version
  7. voxl-configure-cameras


VOXL Utilities (voxl-utils.ipk) is a collection of utilities for setup, configuration and testing tasks and is included in the VOXL Software Bundle.

While using the shell on VOXL, typing in voxl and hitting the TAB key will list all installed and available VOXL CLI programs. Many of these are provided by VOXL Utilities.

/# voxl
voxl-configure-cameras     voxl-perfmon
voxl-configure-modalai-vl  voxl-test-vision-lib
voxl-configure-snav        voxl-uart-loopback
voxl-configure-vision-px4  voxl-version
voxl-env                   voxl-vision-px4
voxl-hwscan                voxl-wifi
voxl-image-streamer        voxl_imu_test


This utility is used to setup the Wi-Fi mode. The VOXL can be setup in station mode, in which it connects to an Access Point, or it can be setup in softap mode, where it itself acts as an Access Point, allowing clients to connect to it.

For details on how to use voxl-wifi, go to the WiFi Setup page.


The voxl-env utility can be used to inspect ROS and VOXL-specific bash environment variables.

/# voxl-env show

voxl-hwscan (Work in Progress)

The voxl-hwscan utility runs various hardware tests and queries on target. Right now it only shows the mac address, more to come later!

/# voxl-hwscan mac


The voxl-perfmon tool can be used to run the performance profiler. The tool computes normalized CPU and GPU use across frequency scaling. It should run on any Snapdragon platform with Linux support, but this has only been tested on Snapdragon 820 Yocto. Source code here.

/# voxl-perfmon

Name   Freq (MHz) Temp (C) Util (%)
cpu0        307.2     25.8     1.56
cpu1        307.2     25.8     0.99
cpu2       1324.8     28.0     1.03
cpu3       1324.8     28.3     0.62
Total                          1.05
POP memory temperature:   25.4
GPU temperature:          24.1
Maximum temperature:      29.9
Total memory (MB): 3771
Used memory  (MB): 446
Free memory  (MB): 3325

Here are some more interesting Commands for CPU profiling:

  • Check POP Memory Temperature: cat /sys/devices/virtual/thermal/thermal_zone1/temp
  • Set CPU1 Offline: echo "0" > /sys/devices/system/cpu/cpu1/online
  • View offline CPUs: cat /sys/devices/system/cpu/offline
  • View online CPUs: cat /sys/devices/system/cpu/online
  • Set CPU frequency scaling governor: echo "powersave"> /sys/devices/system/cpu/cpu3/cpufreq/scaling_governor
  • Stress the CPU for thermal testing: stress -c 4


The voxl-version command displays the various version information.

me@mylaptop:~$ adb shell voxl-version
system-image:    ModalAI 1.10.0 BUILDER: ekatzfey BUILD_TIME: 2019-11-11_23:05
kernel:          #1 SMP PREEMPT Mon Nov 11 22:28:13 UTC 2019 3.18.71-perf
factory-bundle:  0.0.2
sw-bundle:       0.0.2
architecture:    aarch64
processor:       apq8096
os:              GNU/Linux
Package: voxl-utils
Version: 0.4.3
Status: install user installed
Architecture: aarch64
Installed-Time: 14



Configures camera IDs for ROS, VOXL Camera Manager,(ModalAI Vision Library)[/modalai-vision-lib/], and other utilities that use cameras.

See the Camera Configuration page for more info.

/# voxl-configure-cameras -h
General Usage:
voxl-configure-cameras <configuration-id>

If no configuration-id is given as an argument, the user will be prompted.

show this help message:
voxl-configure-cameras media_scripts -h

available camera configurations are as follows:
1 Tracking + Stereo (default)
2 Tracking Only
3 Hires + Stereo + Tracking
4 Hires + Tracking
5 TOF + Tracking
6 Hires + TOF + Tracking
7 TOF + Stereo + Tracking