Going to close this ticket out since it seems to have resolved the issue for the user

@박민솔 , i also wanted to double check. Is there a reason why you want 5x AR0144 and not a combination of AR0144 and IMX412? IMX412 is a very nice camera and has a good lens and provides much higher resoution image (up to 4040x3040). Is it the extra weight or rolling shutter the reason to choose all AR0144 ?

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.

@juancho248 Sorry for the delay, please see the answers below: @juancho248 said: Which Starling 2 Max configuration provides the most suitable high-resolution RGB cameras for our application? All versions of Starling 2 Max come with dual IMX412 cameras (one front-facing, one down-facing). @juancho248 said: Is the C29 configuration currently supported, and what are its camera and depth-sensing capabilities? yes, c29 is supported. Note that TOF (depth sensor) does not work outdoors due to sunlight @juancho248 said: Can the RGB cameras be configured for downward-facing image acquisition? The rear IMX412 is already down-facing. The front camera is forward-facing, so you would need to make modification to make it down-facing @juancho248 said: Can the platform capture full-resolution still images programmatically, rather than only video frames? Yes, you can capture full resolution images, including RAW10 , which can be processed offline for best results. Processed YUV also supported. @juancho248 said: What camera controls are available through the SDK, including exposure, gain, image format, resolution, and capture timing? exposure, gain can be changed in real time. resolution can only be changed before camera server is started, but we support multiple streams with multiple resolutions (so you could have one full resolution stream for sparse captures and lower resolution for video feed). SW zoom is also available for processed images (YUV and video). @juancho248 said: Can captured images be associated with timestamps and available vehicle pose or localization metadata? yes, each image has metadata, including timestamp, exposure, gain. The timestamp is using linux monotonic time, which can be correlated with other data sources that are logged with same time source. @juancho248 said: What onboard storage options and image-transfer interfaces are supported? built-in storage (EMMC 120GB split into two partitions, typically at least 80-90GB free on a fresh system install - dont remember the exact number). you could support USB-based storage as well. Transfer images can be done using the USB / ADB interfrace. The adb itself is slow (<5MB/s) but a usb-ethernet can be enabled on the same USB connection, that is typically ~35MB/s transfers. If you use wifi on the drone, that is also an option. wifi speed depends on typical factors. @juancho248 said: Can images be stored locally during a mission and transferred after landing without requiring continuous Internet connectivity? Yes, as long as you don't run out of local storage. Note that RAW10 images from IMX412 at full resolution (4040x3040) are about 15MB each. YUV of the same resolution are 18MB each. You can also compress them to JPG on voxl2. Please let us know if you have any other questions of if I missed anything. Alex

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]