@eric-katzfey Thank you for getting back to me. To clarify my setup: I am replicating the RADVIO pipeline from NTNU using their ROS 1 codebase. The software messaging between PX4 and ROS is already sorted; my main challenge is finalizing the physical hardware interfaces on the VOXL 2. Current Hardware Configuration: J3 Port: Attached to a USB 3.0 / UART expansion board. Expansion UART: Connected to FlightCore v2. Expansion USB: Connected to a Doodle Labs mini radio. Unused/Free Ports: J10, J18, and J19. Key Questions: Physical Port Mapping: Depending on how the radar needs to be interfaced, which specific headers/ports on VOXL 2 should be allocated for: list itemUSB: (If connecting via a USB interface) list itemUART: (If connecting via serial) list itemI2C: (If connecting via I2C) Alternate UART Setup: If I disconnect the J3 expansion UART from the FlightCore v2 and instead route direct UART via J18 (for an FPV ESC), can the freed-up UART port on the J3 expansion board be safely reassigned to the radar? Drivers & ROS 1 Integration: What is the recommended workflow or driver stack on VOXL 2 for bringing up radar serial/USB streams and exposing them to ROS 1 nodes? Any advice on the optimal pinout and hardware topology for this build would be greatly appreciated!

Starling 2 Max is designed for 4S batteries only (two 2S Li-Ion battery packs, which are connected in series inside the vehicle). The Mini ESC, which also acts as a power source for VOXL2 inside the Starling 2 Max, is rated at least for 4S input (depending on the version of the ESC). There are several versions of the Mini ESC to provide the users some flexibility, in particular the voltage of the VOXL2 regulator (5V for VOXL2 and 3.8V for VOXL2 Mini). Since Starling2 Max uses a VOXL2, the ESC part number will be either M0129-5 or M0129-65. An updated (6S) version of the Mini ESC was released after the release of Starling 2 Max (new ESC part numbers: M0129-63, M0129-65). This ESC update extended the supported voltage for the ESC (not for Starling 2 Max) from 4S to 6S. The 4S version of the ESC has been phased out because the 6S version outperforms the original version even at 4S voltages (due to better Mosfets), so the 6S version is an improvement over the original 4S version of the ESC, while being fully backwards compatible. Using the 6S-rated ESC in the 4S-rated Starling 2 Max is completely safe. If you use the Mini ESC outside of the Starling 2 Max, you need to verify the part number / sticker on the ESC before plugging in 6S battery (M0129-63, M0129-65 only) The ESC variants and part numbers are documented here : https://docs.modalai.com/voxl-mini-esc-datasheet/ Alex

Hi @markmst , please see the following changelog for the AR0144 camera driver and the default tuning file. You can reference the system image versions here : https://docs.modalai.com/sdk-1.6-release-notes/ v1.8.06, v1.8.08, v1.8.09 fix the min gain in default tuning file from 54 to 100. Even if you specify min gain of 54 in voxl-camera-server config, it will get corrected to 100 (so, no issue). this change is going to be in com.qti.tuned.default.bin v1.8.05 improve AR0144 exposure control to make it smoother (compensate with digital gain for the fact that AR0144 analog gain steps are not linear. This change actually lives in the com.qti.sensor.ar0144.so file. fix an issue where the max value (saturated pixel value) would be a function of the analog gain (would vary between 224 and 255) By the way, it looks like we are going to move towards maintaining the camera drivers in the camera server repo so that we can update them much quicker and not require the system image update. Can you tell me which AR0144 drivers you have been using? (where they came from). I can commit the latest to the camera server repo for convenience. Alex

Hey Arvind, Could you try using this version of voxl-camera-server: http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/voxl-camera-server_2.2.32-202607291154_arm64.deb Im able to get 2 camera streams, and every time I click the save picture button on QGC I see the snapshots saved without any issues. Heres some versions of my packages I am using: voxl-camera-server 2.2.32 voxl-mavcam-manager 0.6.1-202601081558 voxl-streamer 0.8.1

Hi @dakota_ltu Under an NDA we could consider the ESC. However, even under NDA, we cannot share the VOXL 2 Schematics unless the recipient is also a Qualcomm licensee with their own NDA with Qualcomm. If that is still a path with value to you, please use this form: https://www.modalai.com/pages/contact-us