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]

Hi @mtcbj That is the flex stiffener. Our older image modules used stainless steel. Some of our newer modules use laminate. Those holes are likely just flex/FPC air escapes during the backer lamination process. They do not provide any functional purpose after assembly. I see no issue filling them with epoxy. Hope that helps!

@extmoddain , Can you please send a picture of the damaged ESCs? Which component blew up? Also what do the labels on the ESD bags from those ESCs say? The 6s version of M0129 (mini ESC) should have a small label on the white 4-pin connector that says either -63 or -65 (meaning 6S and either 3.8V or 5.0V output for VOXL2 mini or VOXL2). We can also check using the serial number (label should be present on the ESC) https://docs.modalai.com/voxl-mini-esc-datasheet/#specifications [image: 1777179257146-aa7bc73c-90f7-41ae-9f28-cacb800c72eb-image.png] Alex

@ChrisB here is a system architecture to follow: https://docs.modalai.com/voxl2-d0014/ We do not support an RB5, that is a Qualcomm product

@yaoyuh , it looks like the order has been taken care of. please let us know if you have any more questions. Alex

@boron Please submit an RMA, https://modalai.com/rma and just refer to this thread. Include your shipping information and we'll send you a new one

@Alex-Kushleyev I found that buying an off-the-shelf raspberry pi heatsink that is 14mm x 10mm (meant for the RAM chip) and combining with a fan works great for the underside of the SIP (on the opposite side of where the main board joins the Ethernet/USB board. Brought my temps down by at least 10-20 degrees even under intense load.

@spiff You'll likely need to reach out to Sierra Wireless directly for debug help.

Hi @austin-c , You can find the latest M0138 firmware with regen completely disabled here Also, I added the esc config that i've been using for testing here For step tests, i have been using pretty aggressive step command: ./voxl-esc-spin-step.py --id 2 --rpm 2000 --step-amplitude 4000 --step-frequency 2.0 --timeout 2.0 --cmd-rate 2000 --enable-plot 1 In order to make the ESC not de-sync (due to long demag time of the motor), the following params were adjusted: max_rpm_delta set to 4000 (you can go lower), to cap the maximum rpm transitions. Although in my test, the step is 4000, so this had no effect timing_advance: 45 -- this is pretty high commutation advance to trigger commutation earlier so that there is more time for back-emf sensing -- high advance wiil reduce motor efficiency and will cause the motor to heat up a bit more sense_advance: 30 -- delay back-emf sensing so that we don't sample back-emf during the motor coil demagnetization more details : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/dev/voxl-esc-tools/doc/low_kv_motor_tuning.md I had another thought.. What if you use a small battery to absorb the voltage spikes? Basically hook up a 6-7S battery with a beefy Schottyky diode (10A) set up with Cathode (negative) pointing to the battery. you will have to make sure the power supply voltage never exceeds battery voltage + diode drop. you will also need to make sure that you don't over-charge the battery with repeated spike absorption.. It is possible to have some sort of self-discharge circuit to slowly discharge the battery to a certain voltage (using a Zener diode + resistor or something similar). Anyway, just an idea.. Try out the no-regen firmware.. Alex

@fhaltmayer , it looks like there maybe something missing from /usr/lib/camera/, as the camera is detected by the i2c probe but not accepted by the system. Can you please let me know how exactly the camera is connected (to camera slot/id 2, it seems) and also list all the contents of /usr/lib/camera/. Alex

@Alex-Kushleyev Thank you for the hint. We have fixed the issue by changing the resolution to 2704x1540 in the voxl-camera-server.conf. Now, the actual DFOV is 150°.

@sjt277 , The simplest approach is to use a separate USB-to-serial adapter for each ESC. You can set up udev rules to map and distinguish the specific usb-to-serial adapters (using their unique serial numbers) to aliases in /dev/, such as /dev/esc0, /dev/esc1, etc. Then run your testing using different USB devices to access each ESC (i am assuming you are using voxl-esc tools?). For example, here is some relevant information: https://askubuntu.com/questions/49910/how-to-distinguish-between-identical-usb-to-serial-adapters Does that help? Alex