@zachary-lowell-0 That worked perfectly, thanks!

Hi @alex-kushleyev Thank you for the detailed answers, this is very helpful. Yes, we would really appreciate it if you could run the test. Based on your answers, we plan to use M0226 instead of M0173 so no R5 rework is needed. We would also like to add one thermal camera. Since we haven't decided between Lepton and Boson yet, could you test both variants, one thermal camera at a time? Common: 5x M0166 (AR0144), all frame-synced on GPIO 109, 1280x800 @ 30 fps Sensor ID Connection Camera Slave address 0 M0226 J1 M0166 default 6 M0226 J2 M0166 default 1 M0226 J4 M0166 alt (0x20) 2 M0226 J5 M0166 default 5 VOXL 2 J8 upper (M0172 J2U or M0181 J2) M0166 default Test A: + FLIR Lepton 3.5 on the M0226 Lepton connector (J6), using voxl-lepton-server. Test B: + FLIR Boson+ 640 on VOXL 2 J8 lower via M0181 J1, with the fifth M0166 on M0181 J2 (J8 upper). What we'd like to confirm in each test: All five AR0144 streams running at 1280x800 @ 30 fps with synchronized timestamps (e.g. voxl-check-cam-sync) The thermal camera streaming at the same time Approximate CPU load and any dropped frames A few related questions: The M0153 page says a second camera on M0181 J2 is only compatible with VOXL 2 J7. Is that still the case, or can M0181 J2 on VOXL 2 J8 be used for an AR0144 as in Test B? In Test B, the Boson (ID4) shares CCI1 with ID1 (alt address) and ID6. Is that expected to be fine? We'd like to purchase 2 pre-configured alt-address M0166 units (one for ID1, one spare). How can we place the order? Is there an estimated SDK release for the alt-address and fsin sensormodules for all IDs? Thanks again!

Hi @chris-pagnotta , yes it will work using M0181 adapter (provided in the kit) connected to VOXL2 J8. Please let me know if you need more details. Alex

@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!

Hi @vinny Thank you for sending the Starling 2 Max STEP file, it's very helpful: the propellers are included, and the frame lines up exactly with the V3 model's coordinates. The export is a single flattened body with no part names, so I can't identify individual components. I have a few questions about the ToF sensor in particular. Configuration: Can you confirm this file is the V4 frame with the C29 sensor package? ToF position: Where is the ToF sensor in this model? A centre point and the direction of the optical axis would be enough, in the file's own coordinates (X right, Y up, Z forward, mm). Comparing it with the V3/C28 model, my best guess is the front-left of the nose, standing upright, around X −13 / Y 10 / Z 63 mm. Is that right? Which ToF parts: Which ToF module and adapter board does C29 use? I tried virtually fitting your public M0178_STARLING_TOF_ADAPTER_REVA and MCAM-00005-TOF-A65 3D models into the nose of this STEP file (software shape-matching, no physical hardware), and neither matches exactly. Is there a different part number, or is the ToF shown in simplified form in this export? Orientation and field of view: An earlier forum post said the C29 ToF is mounted "vertically". Does that mean the 106° side of its 106° × 86° view is vertical, so the horizontal view is 86°? Named-parts version: If possible, could you share the same model as a multi-part STEP with component names, or a dimensioned drawing of the C29 nose showing the ToF, tracking-camera and hi-res-camera positions? I need this to check that a removable payload mount and propeller bumpers stay out of the ToF and tracking-camera views. Thanks again.