Hi @moderator The operating range is 2-6S input VBAT. We currently have no plans for >6S at this time on the ESCs. The 40V is a part rating which gives margin for safe operating limits, transient immunity, or other electrical effects. This is documented to instill confidence in our users that we selected quality parts capable of handling various conditions outside of nominal such as back-EMF, energy dumps, incorrect wiring, or severe transients. We are keeping tabs on the trends in this market and will ascertain for future products if increased operating points are warranted broadly. I do see up to 8S is becoming more popular, but it will increase size and cost of products to enable that capability. Thanks!

@ModalAI-Team; Any updates?

Could you post a log of the drone flip?

@MattK This is a generalized question but did your Starling Max 2 come with a ToF?

What i meant was that sometimes, depending on the frame design, the orientation of the cameras may change slightly over time. This can happen as the plastics can change shape due to exposure to heat, sunlight, humidity (depends on the plastics), bumps and crashes, etc. Additionally, there has been some research showing that the camera + lens intrinsics change over time / temperature, especially if the lenses are made of plastic (which is the case in our old OV7251-based fisheye modules, which use plastic lenses - although we have not characterized them vs temperature). It is possible to use stiffer and more stable materials (metals, carbon fiber) to ensure that the sensor mounting remains consistent over time. I hope that answers your questions. Alex

@Alex-Kushleyev Hey Alex. Thanks for this input. I will incorporate your feedback as we continue initial motor testing and let you know if we need further guidance. Much appreciated!

What is the physical connection between the Optical flow unit and the FC? Is it a UART? Which optical flow unit are you using?

Hi @awagner Apologies for the delayed response. It looks like this post slipped through during our recent forum and documentation site refactor. Are you still experiencing issues with your M0041-4? A few clarifying questions will help: When you mention "that is dead too", can you please clarify what exactly is no longer working? The M0041-4 power module, the VOXL 2 Mini, your power supply, or some combination of the three? Can you share more details about your ESC, make, model, and how the battery pads are connected to the power module? A photo of your wiring connections would be very helpful here. On the spark at plug-in: direct battery connection is the standard way to power up a drone, so that in itself is not unexpected. The spark on connection is not uncommon with a 6S pack due to charge balancing and inrush transient at the moment of contact (especially with our FPV ESC with near 1,000uF of capacitance). That said, we do include protection on the M0041-4 for this reason, so something unusual may have happened in your specific setup, which is why we'd like to see the connections. As a general note, we typically see XT-30 used up to 4S and XT-60 up to 6S. Running 6S on an XT-30 is outside the more common usage pattern and worth flagging as a potential factor. We had some folks mistake a 4S ESC for 6S due to exactly that on early Stinger models. We've since remedied that. One practical note: depending on what has failed, a replacement power module may be a faster and cheaper path than a full debug effort. That said, we do want to help you identify the root cause so this does not repeat. Replacing hardware without understanding the failure just puts the next module at the same risk. Let us know and share photos if you can. Again, sorry for the long delayed response. Thanks!

We do not support DSHOT when using Voxl2 + IO Expander board. However, OneShot125 is supported (though you would need to re-build voxl-px4 pakage and change the following scale factor : https://github.com/modalai/px4-firmware/blob/voxl-dev/src/drivers/voxl2_io/voxl2_io.hpp#L133) -- set MIXER_OUTPUT_TO_CMD_SCALE = 125 instead of 1000. This would reduce the actuator latency by 1-2ms (as long as the ESC supports OneShot125).

@vinny @alex-kushleyev @tom Thanks for the input guys! Happy to report it is all working as intended. Much appreciated.

Hi @Jetson-Nano, Can you please clarify the following - in your original post, you mentioned that the third party ESC also had issues, however in the post above you said no issues. I am quoting your notes from above: " Scenario 3 – Third-Party ESC Evaluation To further isolate the issue, we replaced the VOXL FPV ESC with a NeutronRC X-CLASS 4IN1 ESC V2 (3–8S, 70A) configured using the DShot protocol. During testing, we observed the following: ESC temperature increased rapidly, reaching approximately 80°C to 90°C within two minutes of flight. One motor would subsequently stop during flight. The aircraft would lose stability and crash. " I just wanted to clarify what actually happened and then we can investigate further. Than, you for providing the diagram, i think it looks OK. I have never seen this behavior where the ESC reports incorrect voltage and these short spikes in temperature. This may point to a hardware issue on the ESC board, but i do not actually know where it might be or what would cause it. Have you visually inspected the FPV ESC that has this issue to see if any components appear damaged or anything looks unusual? Alex

@awagner , I believe on VOXL2 Mini should be able to support any 4 cameras on the J6L, J6U, J7L, J7U (specifically the AR0144 (M0149) and IMX412 (M0107), which I assume you are using) Can you please clarify the error that you are seeing? Is the issue the lack of correct sensormodule or something else? (you can check if correct sensormodules are present in /usr/lib/camera after configuring the cameras). As a reminder, the J6L, maps to slot 0, J6U, slot 1, J7L slot 2 and J7U slot 3. Are you able to connect the 2 AR0144 cameras to J6 and J7? What is your goal - how many of each cameras do you need to use? We can test it. Alex

@qubotics-admin , thanks for doing the motor swap test. From this result, it does appear that one of the ESC channels is not working properly. We would like to take a look at the ESC - are you able to send it back for inspection? We can send you a replacement ESC in return. Alex

@Barry-Hammond https://docs.modalai.com/voxl-streamer/#how-to-stream-video-with-rtsp-on-voxl Quality greatly depends on your LTE coverage and VPN performance. I recommend lowering the bitrate in /etc/modalai/voxl-streamer.conf until you're happy with the response rate. Tailscale can add overhead as well and our recent LTE testing has involved hosting a custom WireGuard server.

More detailed GPS documentation would definitely help, especially for troubleshooting setup issues and understanding configuration differences between modules. Saves a lot of guesswork during integration.

That pink hue usually ends up being related to white balance or ISP tuning rather than the sensor itself. I’ve also seen it happen under certain lighting conditions where the auto settings overcompensate a bit. Might be worth checking the raw output vs processed output to narrow it down. If the RAW image looks fine, then it’s probably somewhere in the color pipeline. Also, for comparing the tint between frames, I’ve used https://colorpickerimage.org/ before to inspect the actual RGB values in different areas of the image. Makes it easier to confirm whether the pink cast is consistent or only affecting highlights/shadows.

Hello @Gerhold-Ten-Voorde , This is not related to the quality, but instead, it is a supply chain decision. Alex

@leandro , yes we do have M0195 boards available. Please send us a contact inquiry to get a custom order (https://www.modalai.com/pages/contact-us). The connectors J01, J23, J45 and J67 are not populated - we do not have a build with those connectors. You would need to add them yourself. Also, we are currently not (yet) officially supporting the ToF pills on this board, there is limited internal testing being done. We may be able to provide limited support for that. If you are interested, i can find out what the status of this effort is. MCBL-00128 we have is only 75mm, unfortunately. There is a way to make the TOF V2 work on VOXL2 mini, however it is a bit of a hack (which temporarily enabled a transition to the new TOF V2 while using old camera connectors, which did not provide enough power). https://www.modalai.com/products/m0178?variant=48528287826224 basically this configuration uses M0169 adapter (instead of M0178). https://docs.modalai.com/M0169/ M0169 requires a power input of 5V ideally 1.5A, provided via the 2-pin JST connector. If you were using a voxl2, then you can use the provided 4-pin power cable with a split connection for the TOF sensor. In case of VOXL2 mini, since it accepts 3.8V input, you will need a separate 5V supply. M0169 can be connected to M0076 or M0135 camera interposers using the standard flex cables, such as M0074 (comes with this kit), M0036. Note that if you use M0195 camera front end (or M0188), then you will not be able to use the TOF V2 because both camera connectors on voxl2 mini would be used up. What's included in M0169 kit (from our shop page linked above) [image: 1778554794410-55c9deee-e676-471f-8939-e6ece7f80813-image.png]