@cguzikowski these had been marked NRND (not recommended for new designs) for a while and we removed them due to lack of demand. We may still have some on hand if there is something specific you are looking for. Please reach out to modalai.com/contact and we can see what we can enable

@tom Thank you very much for your information.

@Allister-Lim , If you are not monitoring the battery voltage while working with your battery-powered VOXL, it is possible that you are over-discharging the batteries to the point of failure. Especially with LiPo batteries, it is unsafe to over-discharge them, so please be careful. (It seems that you are also using LiPo batteries, in addition to ModalAI Li-Ion batteries also shown (green)). There is nothing wrong with using LiPo batteries, but you have to be more careful with those. Over-discharged batteries lose capacity and Lipo Batteries may become dangerous. It is a good idea to use an appropriate DC power supply when working with VOXL2 while it is powered on continuously. 12V 3-5A Power supply, connected to the APM (which will provide 5V for VOXL) should be sufficient. You should have no problem finding one, but in case you need, here is a link to the AC adapter that we sell : https://www.modalai.com/collections/accessories/products/ps-xt60 Alex

@tom Thank you very much for your information.

Here are the links to the test firmware: M0129-3 M0129-6 After you update, you should see the following version after running voxl-esc-scan.py (except yours will be M0129-6). The firmware version will be 39.23 and this version will be reserved only for this test firmware: INFO: ESC Information: INFO: --------------------- ID : 0 Board : version 40: ModalAi 4-in-1 ESC (M0129-3) UID : 0x2039333557555304003F0029 Firmware : version 39.23, hash 30c088dc Bootloader : version 184, hash 10bf24c8 ... In case you need help updating ESC firmware: https://docs.modalai.com/voxl-escs/faq/#q-how-do-i-update-esc-firmware We won't officially release this firmware version in order to avoid the aforementioned risk of turning on 5.0V by just installing a firmware update, however we will work on enabling this in the ESC params. Also, just as a reminder, please be careful soldering to the AUX test points, use high quality flexible cables, and use strain relief to avoid lifting the pads. Alex

@Jskim , sounds good! Just FYI, i noticed that the config file i provided has some outdated settings for IMX412 camera - I have some better suggestions and will follow up soon. You can still test with the above config - the hardware functionality will not be affected. Alex

HI @souksakone Also, do not ARM the drone when using a power supply. You WILL damage the ESC and we will not honor any RMA/Warranties in that condition. We place warning labels on all main power supply cables for that. Thanks!

@Alex-Kushleyev , Thank you, I successfully ordered the it.

@Vinny Yes, thank you very much!

We have updated the M0129 in the past few months to support 2S-6S, it looks like the datasheet is out of date. Thanks for pointing that out. If it is marked M0129-63 or M0129-65 it supports 6S M0129-3 and M0129-5 are the older version and they only go up to 4S

@Vinny Thank you for reverting back, I will follow the steps you mentioned along with the ESD safe method.

@Alex-Kushleyev Ok great. Thanks. One more question, to configure VIO/QVIO for a custom frame with a single (downward) camera, how should I go about following the documentations? I am starting with https://docs.modalai.com/open-vins/ However I came across this: "This documentaion will assume that there are some steps that have already be taken. ...Assuming that we are working with between two and three camera tracking." are there different procedures for a system with single camera? Also a high-level roadmap on how to go about configuring VIO/QVIO for a custom frame would be appreciated in case information is in multiple places in documentation. Thank you for your support.

@Vinny Got it. Thanks!

Hi @18257581 Sometimes our newer boards are lacking in full documentation, so thanks for your patience. We have not publicly posted our uCoax pinouts and not sure yet if we plan to. For now it is required to use our full solution which is host adapters, cables, and sensor boards. I'll bring it to the team. But, we are unlikely to open this up since in order for us to test the components, which are very fragile, they need to be bundled together and not separated, so it would actually cost us more (costing our customers more) to test units individually for customer designs. Only the Coax cable we sell individually and that is pinned 1:1 with all 26 conductors present unlike some of the other COTS FPV systems. However, for JST and other cable-to-board and board-to-board connectors, yes, we need to get that listed. The pinout on J4 of M0201 (the replacement for M0153) is in the same Dronecode inspired format we use at ModalAI for UART + I2C, but in this case since it is not UART, it is 2 GPIOS. So, Pin 1 = 3.3V Pin 2 = GPIO_1 (Undefined/Unavailable/Reserved for Future Use) Pin 3 = GPIO_2 (Undefined/Unavailable/Reserved for Future Use) Pin 4 = GIMBAL_I2C_SDA (3.3V Logic Levels, 2.2K pull-up resistor present) Pin 5 = GIMBAL_I2C_SCL (3.3V Logic Levels, 2.2K pull-up resistor present) Pin 6 = GND

@Sam-Kiley , yes, every Starling 2 / MAX is going to have M0173 board installed and needs to use the option 1. Alex

@psafi the html file is saved in the same folder where you run voxl-esc-spin* scripts if you have --enable-plot 1 . on VOXL2, the plot wont show up on screen, since there is no screen attached to VOXL2 (which would work on a linux pc), but it will be saved to html. In order to save to html, you will need to have plotly installed. You may first need to install pip3 apt update apt install python3-pip pip3 install plotly --upgrade Alex

Please keep in mind that the bayer image may have padding at the end of each row in order to align the line start with 16 or 32 byte boundary. This padding is done by the ISP when it receives the image from the camera. For example, a number of common raw resolutions have the line stride listed in the FindFrameSize function in voxl-camera-server source code: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-camera-server/-/blob/dev/src/hal3_camera_mgr.cpp?ref_type=heads#L4636

@Rowan-Dempster , Here is where the raw data from the TOF sensor comes into voxl-camera-server : https://gitlab.com/voxl-public/voxl-sdk/services/voxl-camera-server/-/blob/dev/src/hal3_camera_mgr.cpp?ref_type=heads#L1242 The data is in the MIPI12 packed format. The TOF library expects RAW16 format, so the data is converted from MIPI12 to RAW16 and fed into the TOF processing library. It is possible that dumping the RAW data is what RRF recording would be doing, so you could add that functionality to camera server to write the raw data to file. I could also help with publishing the RAW12 data as is to a mpa channel, so you can log it outside of the camera server (for example using voxl-record-raw-image utility. You could clarify with PMD if that would work (in other words, you would need to know the log format of the RRF recording) We have not tried enabling the raw data logging. However, if you know what function needs to be called within PMD library (maybe you just enable logging, and it does everything for you), you should be able to add it somewhere in the TOF init code, maybe here : https://gitlab.com/voxl-public/voxl-sdk/services/voxl-camera-server/-/blob/dev/src/tof_interface.cpp?ref_type=heads#L982 You can find the API header files for Royale / Spectre in /usr/include/royale either on VOXL2 directly on in /opt/sysroots/qrb5165_1/usr/include/royale the voxl-cross:V4.4 docker. Hopefully that helps! Alex

Hello @Aaky , If you have a new motor / prop, please follow these instructions for initial tuning : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/master/voxl-esc-tools/calibration.md?ref_type=heads We don't have this specific motor / propeller combo, but if you send a link where I can purchase these, I would be happy to do a tuning pass and some testing for you. Alex

@tomverstappen , I am glad you got this resolved. The "unknown board" message you were receiving was due to the older release of voxl-esc package, which did not recognize (and did not have firmware for) the M0129-6 ESC, which is the 6S-compatible version of the M0129 ESC. I hope this clarifies that issue. Alex