Hi team, I'm trying to get object avoidance working on a VOXL 2 Mini (SDK 1.6.3, ArduPilot) and hit a wall getting voxl-dfs-server running. Wanted to share what I found in case it saves someone else the digging, and hopefully get a fix published. THE PROBLEM Starting voxl-dfs-server immediately spams this and never produces the dfs_point_cloud output: ERROR only support STEREO_RAW_8 images right now I checked the source on GitLab (qrb5165-dfs-server), and the code itself is actually fine - it checks the correctly-named format constant IMAGE_FORMAT_STEREO_RAW8 (the underscore only shows up in the printf error text, that part's just a cosmetic typo, not the real bug). The real issue is that the shipped binary is stale. Looking at the repo's tags, sdk-1.1.0 through sdk-1.6.0 all point to the exact same commit from 2023-09-22 (tag v0.2.0) - it's never actually been recompiled since then, even though voxl-camera-server has moved forward two major version lines in that same window (1.8.x back then, 2.2.x now). I also checked whether a newer build exists anywhere that just hasn't been documented: dev channel has a rebuild dated 2025-10-09, but its binary still has the identical error string - the rebuild changed some dependency versions but didn't touch this the "stable" sdk-1.7 channel file has a May 2026 timestamp, but its MD5 hash is byte-for-byte identical to the 2023 build already on my board - just a re-touch, not a real recompile checked staging, and the separate qrb5165-2 line too (that one's for a different Ubuntu 20.04 image and doesn't even ship this package) So as far as I can tell, no build anywhere actually matches the current image-format naming. My guess: IMAGE_FORMAT_STEREO_RAW8 is a compile-time constant, and libmodal-pipe has moved from ~2.9.x (when dfs-server was last built) to 2.14.11 today. If that enum's value shifted in that window, dfs-server would be comparing against a stale integer even though its own source code symbol name is correct. WHAT'S ALREADY RULED OUT Stereo cameras themselves are fine - calibrated, streaming, confirmed via voxl-inspect-cam etc. voxl-dfs-server's config is correctly pointed at the stereo pair with valid calibration files voxl-vision-hub is correctly configured for VOA and just waiting on the dfs_point_cloud pipe Not attempting a local downgrade of voxl-camera-server to fix this - it would risk breaking ABI compatibility for every other service that links libmodal-pipe, and per voxl-configure-pkg-manager's own docs, mixed package versions aren't a supported configuration anyway THE ASK Since the source looks correct and this seems like a simple stale-build issue, could qrb5165-dfs-server get recompiled against current libmodal-pipe and republished? Happy to test a new build on my SDK 1.6 board if one becomes available. Board info: VOXL 2 Mini, hw platform M0104, voxl-suite 1.6.3, ArduPilot flight stack. Thanks!

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