@Alex-Kushleyev Thanks for the advice! Sorry for the delay in following up. Dan and I are on the same team and I currently have the physical drone in my possession. I've attached a video of what the motor spinning actually looks and sounds like. The motor you see is actually a replacement, and the behavior is the same. It appears we may actually have an ESC issue or an issue at the connection point between the motor wires and ESC. The video shown is the result of running: voxl2:/usr/share/modalai/voxl-esc-tools$ python3 voxl-esc-spin.py --id 1 --power 15 Modal AI Starling 2 Max - Motor Spin Test Video When running the voxl-esc-verify-params.py script, the output shows that params are all matching: voxl2:/usr/share/modalai/voxl-esc-tools$ python3 voxl-esc-verify-params.py Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00) [GCC 8.4.0] Found voxl-esc tools bin version: 1.9 VOXL Platform: M0054 Detected RB5 Flight, VOXL2 M0054 or M0104! INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 2000000 Sending library name request: libslpi_qrb5165_io.so Sending initialization request INFO: ESC(s) detected on port: /dev/slpi-uart-2, baud rate: 2000000 INFO: Params from ID 0 match ../voxl-esc-params/D0012_Starling_MAX/esc_params_m0129_f2203_5_1500kv_7x3.7x3.xml INFO: Params from ID 1 match ../voxl-esc-params/D0012_Starling_MAX/esc_params_m0129_f2203_5_1500kv_7x3.7x3.xml INFO: Params from ID 2 match ../voxl-esc-params/D0012_Starling_MAX/esc_params_m0129_f2203_5_1500kv_7x3.7x3.xml INFO: Params from ID 3 match ../voxl-esc-params/D0012_Starling_MAX/esc_params_m0129_f2203_5_1500kv_7x3.7x3.xml INFO: Success! Params in all ESCs are valid and identical. Any thoughts on next steps here?

@Jing-Yu This is the tof camera - the ring around it rotates. I'd watch the output on voxl-portal for TOF-IR as you're rotating it to see if it has any impact. [image: 1753801816754-3bf8773e-3633-49e3-b911-ee060a6a5dd4-image.png]

@tonygurney , yes. Please see the comment about pin availability and pin numbers here : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/master/voxl-esc-tools/voxl-esc-pwm.py?ref_type=heads#L17 Please note that running voxl-esc-pwm.py script will use the serial port and cannot be done concurrently with PX4. This is a standalone tool, unlike voxl-send-esc-pwm-cmd tool, which sends a message to voxl-px4 and the pwm control message is then forwarded to the ESC by the voxl_esc px4 driver. Alex

@h3robotics , Yes you should be able to test the Hadron on J8 using the instructions from the docs page (https://docs.modalai.com/voxl2-hadron/) -- just make sure you use Boson sensormodule 4 and ov64b sensormodule 5 (and camera IDs will still be 0 and 1 respectively, if there are no other cameras attached / detected). At this point you do not need to build a custom kernel, just need to use kernel variant 1 because it enables independent camera support on J8 which is needed for Hadron. Please note that you would not be able to use our standard ucoax camera on J8U because the camera reset signal is still not correctly patched through to J8 (which would require a kernel modificaiton). But in Hadron use case, camera reset is not used (both the IR and RGB camera are always on, so it happens to work out ). I agree, it may be more convenient for you to switch to using the M0173 camera front end, so you can use a single kernel variant and also this would be a more future-proof approach. Alex

@tom @shawn_ricardo Thanks very much - ill give that a try

@wilkinsaf yes unfortunately Gremsy doesn't sell one as of right now and I probably misunderstood your message that said "something is in the works" I though Modal AI working on developing one. Thank you

@mkriesel , the exposure and gain period parameters should be set to 1. They were used a long time ago for Auto Exposure control for ov7251 camera, which would have weird image flicker issues if you updated gain every frame, so we would use ae_gain_period set to 2. The issue with ov7251 was also resolved a while ago and it supports gain period of 1. These parameters specify the update period (in frames) for sending out the new gain and exposure from the AE algo. So these parameters should be set to 1, which is the default for AR0144. There is no practical reason to use any value other than 1. Alex

The latest firmware for M0065 can be found on gitlab here or directly on voxl2 in /usr/share/modalai/voxl2-io-tools/firmware/ Once updated, the firmware will be detected as version 2. The previous version 1 is no longer supported due to several bugs. Alex

@smiley , The Boson and Hadron are supported the same way by the VOXL2 camera pipeline (same drivers, camera server settings). You just need to use the correct cables / interposers for connecting the sensor depending on the selection of Boson or Hadron. There is no distinction at all from the VOXL2 SW and it does not know whether a standalone Boson or Boson inside Hadron is connected. Please let me know if you have any other questions. Alex

@Alex-Kushleyev The issue has been resolved. Thank you for your help.

@brendan424 https://www.modalai.com/pages/rma

@Alex-Kushleyev That was it! I first tried with a lower baud rate of 250K on PX4 and I started getting the battery info. Then as you recommended, I uploaded new parameters to the ESC. I used: python3 voxl-esc-upload-params.py --params-file ../voxl-esc-params/D0014_starling_1504_3000kv_ms_props/D0014_starling_1504_3000kv_ms_props.xml because I will be using it on a drone of similar size and performance. Then with 2M baud rate in PX4, I was able to make it work! Thank you.

@FIREBIRD Please reach out here: https://www.modalai.com/pages/contact-us

@jmltt Each microhard modem hosts a web server that can be accessed via it's IP address. You can see what data is available and can likely script a query for signal strength. (They may have an API but it's not something we've investigated)

@Eric-Katzfey Okay, then I'm gonna do that. Thanks for the assist.

Thanks a million @Alex-Kushleyev that certainly explains the effect - I really appreciate you taking the time