Hi Alex, Thanks for clarifying the direction. For UAS → GCS with your current voxl-vtx 1.7.1: Autopilot telemetry already goes VTX → VRX → Ethernet UDP: voxl-vtx subscribes to the autopilot's MAVLink stream from voxl-mavlink-server and sends it over the RF link next to the video. The VRX then re-sends it as UDP to: destination: gcs_ip in /etc/modalai/voxl-vrx.conf (default 10.0.0.1), port 14550 (fixed in 1.7.1) source: the VRX at 10.0.0.2 Give your GCS laptop 10.0.0.1 on the VRX Ethernet link (or set gcs_ip to its address) and listen on UDP 14550. QGC will pick it up automatically. This is a one-way telemetry snapshot, not a transparent MAVLink link. The VTX sends at mavlink_telem_rate_hz (30 Hz in your config) and keeps one message of each message ID per send window. Custom companion data: not supported in this release. voxl-vtx only forwards what voxl-mavlink-server publishes on its mavlink_onboard pipe, and that pipe only carries messages received from the autopilot. If a companion app writes MAVLink into that pipe, voxl-mavlink-server sends it to the autopilot and doesn't publish it back onto the pipe, so voxl-vtx never sees it. Writing to the mavlink_to_gcs pipe doesn't help either: voxl-mavlink-server sends those messages out its own UDP sockets, and they have no way to reach the ground over the MVX link. There is currently no supported way to put your observation data onto the VTX → VRX link. Upgrading to SDK 1.6.4, if these features are useful to you: Your voxl-vtx 1.7.1 is older than what ships in SDK 1.6.4, the latest SDK release for Stinger. SDK 1.6.4 includes voxl-vtx 2.2.x, which adds: Parameter, mission and FTP forwarding to the GCS, so QGC can read and set parameters and download missions over the MVX link. GCS → drone MAVLink through the VRX. MAVLink your GCS sends to the VRX on the GCS port is forwarded over the link to the aircraft, for example mission uploads. By default this forwarding stops while the vehicle is armed. To keep GCS → drone MAVLink flowing in flight, set this in /etc/modalai/voxl-vrx.conf and restart voxl-vrx: "allow_mavlink_forward_while_armed": true Only enable this if you want the GCS able to send commands to the aircraft while it is armed. MANUAL_CONTROL messages are dropped. A configurable GCS port (mavlink_gcs_port), replacing the fixed 14550. None of these add a path for custom companion data, so they don't solve the observation use case. WiFi client mode with the VTX active: On the Stinger the M0185 is the VTX radio, and it runs in raw injection/monitor mode while it sends video. It can't also join a network as a WiFi client. A TCP/IP WiFi link would need a second, separate WiFi adapter. Even then, running it on the same band as the video link could hurt video quality, so we'd advise against it for a flight setup unless you deconflict the frequency used by each network device.

Please provide a PX4 log.

Hi again, Thank you for the clarification on the battery specs and for highlighting the risks. Given that the original motor (1504 3000KV, PN: M10000633) is now officially obsolete/end-of-life (as shown in your product specs) and replaced by M10001231, we will strictly follow your advice and avoid any hardware hacks or mixing different motor specs. PNG However, having to replace three perfectly operational motors simply because the single original part was discontinued leaves us in a difficult position for a routine repair. Since we need a reliable and official path forward to get our Starling 2 flying again, could you please advise on how ModalAI handles this situation? EOL Support / Single Motor Solution: Is there any remaining stock of the original M10000633 motor for RMA/repair cases, or any official solution to avoid replacing the entire set of 4 motors when only one is damaged? Official Replacement Path: If replacing all 4 motors with the 1503 2900KV (M10001231) model is strictly mandatory, do you offer a replacement bundle/discount for users impacted by this EOL transition? Firmware / PID Configuration: If we are forced to replace all 4 motors with the 1503 2900KV model, does ModalAI provide an updated PX4/VOXL parameters file/tune for this hardware revision, or does the default factory tune handle the change automatically? We appreciate your guidance to ensure our autonomous flight testing remains safe, supported, and cost-effective. Best regards, [image: 1790346499104-074a5467-963f-4cde-812f-9d77ff039cfb.png]

@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.

We have added the pinouts here: https://docs.modalai.com/M0155/

Hello @ישראל-בן-שלמה , Please see some options below and the recommendations at the end. For reliable VIO, we recommend dual tracking cameras. The tracking cameras are very light, so the extra 3 grams will give you lots of safety margin AR0144 is probably the best option since this is what we use. 2.2g with 80mm coax cable OV7251 camera (M0014) is probably the smallest (it is lower resolution also 640x480 vs 1280x800 for AR0144). ov7251 is EOL but it looks like we have some in stock. the weight of M0014 module is 0.5g (with the flex cable). However, to connect it to VOXL2 / mini, you would need an interposer like M0076 (0.6g) ( or M0135 (1.0g) IMX214 (M0025 module, https://docs.modalai.com/M0025/ ) may be the lightest 4K camera we have (0.7g with flex cable), but it is very old and sensor + lens quality is very far from our newer (and heavier) IMX412- and IMX664-based camera modules. Flir Boson 320 is a bit heavy too. The one i have with lens is about 23g. Most of the weight is the lens, i think. for connecting Boson to a Voxl2 Mini, you should use M0194 ( https://www.modalai.com/products/m0194 ) Boson → M0201 → coax → M0194 → VOXL 2 Mini J6 or J7? you can plug in another camera into M0194, such as AR0144 (coax version) or the IMX412 (coax version) The best option in terms of support (no EOL components) and hardware quality, would probably be: VOXL2 Mini (11g) M0195 (5.0g) -- see C43 configuration : https://docs.modalai.com/M0195/ Boson + M0201 + coax -> plugs directly into M0195. weight of M0201 + 80mm coax is 1.7g + 0.7g = 2.4g. Need to add weight of Boson! one or two AR0144 (M0166) -- 2.2g with 80mm cable (each) hires camera (IMX412) M0161 : 8.5g with 800mm coax cable Minimal Config VOXL2 Mini (11g) M0194 plugged into J7 (1.4g) + 80mm coax (0.7g) + M0201 (1.7g) + weight of Boson M0166 AR0144 (2.2g with 80mm coax) plugged into M0194 M0076 (0.6g) plugged into VOXL2 mini J6 M0025 IMX214 camera (0.7g) plugged into M0076 ** note that this is mixing the coax and non-coax cameras, but i think this should work. we would need to give this a quick test to make sure. Alex

Ok lastly - can you please list out your OpenVINS package version? Previous versions of vins has a callback that alternates between processing and dropping frames when VIO is intiialized and its static jerk test permits throttling - so that first the 66.7 ms spacing you described. Restarting it would also bypass this throttle during init which is why it would go back to 30 hz

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, This post is quite old now, so going to mark it as resolved. If it is not, please start a new topic in the correct category for your needs. Thanks!