Thank you for your quick response. I have one more question about the M0042 board. Could you let me know how many shunt resistors are used with the INA232 and what the resistance value of each one is? If you’re able to share it, I’d also appreciate seeing the portion of the schematic that shows the INA232 and its shunt resistor connections.

Alright, i will try to get this done by end of this week. A few notes: Lepton and Boson can actually run together, so i will try that (since Lepton uses SPI, not MIPI protocol) I will be testing with M0173 with resistor fix due to availability on my end M0153 note about Voxl2 J7 is outdated. It works on Voxl2 J8 as well, in fact M0181 best fits into J8 and mounting hole aligns, see image below [image: 1794463466702-voxl2_m0181_j8.jpg] Boson and AR0144 have different CCI slave addresses, so they will not conflict i will double check how to purchace the ALT address AR0144 will try to release the AR0144 drivers at the same time as i test, hopefully by end of this week

Hi @kdeshmu2, the PX4 uORB message reference has a page per message with field descriptions and units where PX4 defines them: https://docs.px4.io/v1.18/en/msg_docs/ For the motor topics on Starling 2 (VOXL ESC), we added a table here: https://docs.modalai.com/voxl-px4-files/#logged-topic-contents In short: actuator_motors: motor commands from the control allocator, normalized 0 to 1 actuator_outputs: the same commands scaled by the voxl_esc driver to RPM, between VOXL_ESC_RPM_MIN and VOXL_ESC_RPM_MAX esc_status: ESC feedback per motor (measured RPM, voltage, current, temperature, power) The voxl_esc driver source is here if you want to see exactly how the outputs are produced: https://github.com/modalai/px4-firmware/tree/voxl-dev/src/drivers/actuators/voxl_esc

@qqa , we have document how to achieve folder-level encryption on VOXL2 here : https://docs.modalai.com/enabling-file-encryption/ . Please let us know if you have any other questions.

Sorry @senja for the delays, this post did not get flagged for me. Yes, they install on different sides of the VOXL 2 board as shown here: https://docs.modalai.com/voxl2-connectors/#connector-callouts [image: 1792693889198-9a619597-c0ad-460a-b43a-c0689c8a0aab-image.jpeg] https://docs.modalai.com/M0226/#overview [image: 1792693659205-3064b401-56ca-4e7d-973c-0fe9c3ebe5cc-image.jpeg] https://docs.modalai.com/m0062-datasheet/#connector-callouts [image: 1792693766032-bc42a15b-8021-47f4-a9b6-534603ed8399-image.jpeg]

Thanks Tom and Eric, finally resolved this, it ended up being a power supply issue. The unit we used to typically run it on the bench seemingly browned out somewhere in the flashing procedure.

Files promised below voxl-mapper-packages.zip

Hello. Can a Starling 2 drone autonomously fly while flying over the pipe inside a sewer? The drone must fly autonomously in a dark place to inspect cracks or internal conditions while flying along the water pipe. I'm not sure if this feature can run on Starling, so I'm asking for help!

Hello everyone, I am looking for some expert advice on a VOXL 2 companion computer setup for a long-range platform. I have two main integration challenges: Challenge A: VIO at Higher Altitudes To solve the motion blur and pixel density issues at higher altitudes, I am planning a 6-camera configuration. I want to use 4 downward-facing sensors (2 daylight + 2 IR) equipped with narrow-angle lenses, alongside 2 standard wide-angle sensors (front and rear). Could you advise on the best supported sensors (e.g., IMX series) for this? Has anyone successfully tuned the voxl-qvio-server for narrow-angle lenses, and what were the altitude limits you achieved? Challenge B: LAN Integration & WireGuard The payload data flow will be: External RTSP Camera -> Ethernet -> VOXL 2 (WireGuard encryption) -> Ethernet -> Digital RX. Because VOXL 2 lacks multiple LAN ports, I will need a miniature industrial Ethernet switch. Does ModalAI have any tested hardware recommendations for this? Furthermore, what is the best practice for routing this VPN traffic through the VOXL 2 Ubuntu environment without bottlenecking the CPU? We are currently evaluating the VOXL 2 for a broader fleet deployment and want to ensure the ecosystem can support this custom optics requirement. Any feedback on off-the-shelf solutions or standard configurations for this use case would be greatly appreciated. Thank you!

Hello @elvis-bicharri , Please take a look at the updated Starling 2 Max C29 V4 model : https://storage.googleapis.com/modalai_public/modal_drawings/MRB/D0012-Starling-2-Max-C29-V4-20261112.STEP You should be able to see all the sub assemblies and parts labeled now. Also, the model size (MB) is reduced. Please let us know if you need anything else. [image: 1794462369745-68e2b39c-c885-4c17-aa24-ed28cb1c7da5-image-resized.jpeg]