Hello @ישראל-בן-שלמה , Please see some options below and the recommendations at the end. For reliable VIO, we recommend dual tracking cameras. The tracking cameras are very light, so the extra 3 grams will give you lots of safety margin AR0144 is probably the best option since this is what we use. 2.2g with 80mm coax cable OV7251 camera (M0014) is probably the smallest (it is lower resolution also 640x480 vs 1280x800 for AR0144). ov7251 is EOL but it looks like we have some in stock. the weight of M0014 module is 0.5g (with the flex cable). However, to connect it to VOXL2 / mini, you would need an interposer like M0076 (0.6g) ( or M0135 (1.0g) IMX214 (M0025 module, https://docs.modalai.com/M0025/ ) may be the lightest 4K camera we have (0.7g with flex cable), but it is very old and sensor + lens quality is very far from our newer (and heavier) IMX412- and IMX664-based camera modules. Flir Boson 320 is a bit heavy too. The one i have with lens is about 23g. Most of the weight is the lens, i think. for connecting Boson to a Voxl2 Mini, you should use M0194 ( https://www.modalai.com/products/m0194 ) Boson → M0201 → coax → M0194 → VOXL 2 Mini J6 or J7? you can plug in another camera into M0194, such as AR0144 (coax version) or the IMX412 (coax version) The best option in terms of support (no EOL components) and hardware quality, would probably be: VOXL2 Mini (11g) M0195 (5.0g) -- see C43 configuration : https://docs.modalai.com/M0195/ Boson + M0201 + coax -> plugs directly into M0195. weight of M0201 + 80mm coax is 1.7g + 0.7g = 2.4g. Need to add weight of Boson! one or two AR0144 (M0166) -- 2.2g with 80mm cable (each) hires camera (IMX412) M0161 : 8.5g with 800mm coax cable Minimal Config VOXL2 Mini (11g) M0194 plugged into J7 (1.4g) + 80mm coax (0.7g) + M0201 (1.7g) + weight of Boson M0166 AR0144 (2.2g with 80mm coax) plugged into M0194 M0076 (0.6g) plugged into VOXL2 mini J6 M0025 IMX214 camera (0.7g) plugged into M0076 ** note that this is mixing the coax and non-coax cameras, but i think this should work. we would need to give this a quick test to make sure. Alex

Hey @arvind_g3aero So, it does look like you were able to get this working with the dev release of voxl-camera-server which is great to hear. The natural progression of a software package is through dev-> staging -> release. So, this version of voxl-camera-server will be released in a future SDK. There will most likely not be a backport onto the 1.6.2 SDK

ok thanks, I have emailed, please let me know if you have not received it

@royazriel , We do not recommend doing apt upgrade, since we do not test this update method. If you want to update the SDK, you should do that following our SDK install instructions. As an advanced user, you may select to update your apt sources to use dev releases (basically latest dev branches) and selectively install packages that you want to test. The recommended SDK release for Starling 2 (Max) is 1.6.4 With that in mind, please let us know if you have any more questions about this. Alex

And the latest build of our fork with this fix is here: http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/voxl-px4_1.14.0-2.0.146-202607161052_arm64.deb

@RoyAzriel 1.6.4 release is tested on Starling 2 now, go ahead and use that from the link I emailed you.

Hello @royazriel , please take a look at our documentation, which has some testing tips : https://docs.modalai.com/voxl-open-vins-server/

@Eric-Katzfey thanks. before I did sdk reflash I found out the px4 params were somehow corrupted. I have tried to reproduce these values without success. what made it work is taking a similar drawn read the params usign px4-param show -a and writing the to the corrupted one.

@cguzikowski , Sorry for the delay. Regarding the new HW not working, since you have two identical setups, i would recommend swapping components to identify what exactly is not working. This is the most efficient way to diagnose it. From the logs you provided, the ov64b camera is detected and initialized, it seems, but no frames come in, which could be a cabling or interposer issue. I will get back to you with an update on the lens shading tomorrow. Alex

@tom said in Latest SDK versions - How to access?: https://storage.googleapis.com/platform-beta-releases/voxl2/voxl2_SDK_1.6.4-beta8.tar.gz Thanks @tom !!!

@jameskuesel , I think there is another option which i have not considered before. The first three cameras are the same as above: : M0173 J1: AR0144 slot 0 : CCI0 : M0173 J2: AR0144 slot 6 : CCI1 : M0173 J5: AR0144 slot 2 : CCI2 Then if we use J8U (which can be done using M0181 - it allows you to connect a Boson sensor to lower slot, and a tracking / hires camera to upper slot). Then the fourth camera would be: VOXL2 J8: M0181 Upper : AR0144 slot 5 : CCI3 And there are no CCI conflicts. One issue is that we don't typically sell M0181 by itself (only in a kit). Instead you could use two other options, both of which allow connecting a tracking / hires camera to the upper slot: M0194 : https://www.modalai.com/products/m0194/ M0172: https://docs.modalai.com/M0172/ / https://www.modalai.com/products/mdk-m0172-1-00 The only down side of using M0172 / M0194 instead of M0181 is that the two alternatives do not have a mounting hole that would align with VOXL2 mounting hole, but M0181 does have a tab with a mounting hole for VOXL2 J8, see below. The M0172 and M0194 were really designed as mainly options for VOXL2 mini. [image: 1780458131518-98d5f0ec-7f07-44bf-b002-036aefd3921d-image.png] [image: 1780458149322-c9c77086-b5fc-4215-99a2-fdc310d6f18c-image.png]

@Jskim This is the repo we use for support of UVC cameras: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-uvc-server. I don't think it will work directly with Seek cameras but you can try. In my experience each new camera requires a bit of integration work and updates to that code.

One thing that helped me before was comparing the device tree and driver setup against an already supported sensor with similar specs. A tiny mismatch in clocks or I2C config can stop the sensor from initializing properly.

@ApoorvThapliyal Thank you for your help. also I was able to work with jazzy by only subscribing and printing with node. since error only occurred when I tried to echo the topic and not when another node is subscribing it. but using docker seems like most viable option to me since I m using ubuntu 24.04. Thank you for your help again

Hi Kim, There are a couple changes required here that will make this work: 1. Rebuilding Kernel with SPI14 enabled You're going to have to rebuild and flash the kernel with QUP14 enabled as SPI. There is also a directional level shifter on GPIO67 that needs to be set to high in order for SPI on QUP 14 to work. I created this branch for you that should have the kernel changes that you need: feature/voxl2-mini-spi-qup14 (link) In order to actually build and flash the kernel please follow the instructions from our public docs on how to build the kernel https://docs.modalai.com/voxl2-kernel-build-guide/ When building the kernel, after syncing but before building, make sure to go to the cloned meta-voxl2-bsp directory and checkout the branch that I created (feature/voxl2-mini-spi-qup14). Also there is a chance you may need to build a kernel variant depending on your device so also make sure to check this document to see if you have a -2 device which would require building the kernel with the -v var02 flag https://docs.modalai.com/m0054-versions/#m0054-1-and-m0054-2 2. Configuring Trustzone with Correct QUP I would recommend using the devcfg binary that comes from the `voxl2-mini_SDK_1.0.0.tar.gz. In order to flash devcfg you'll want to run the following command fastboot flash devcfg <path/to/voxl2-mini_SDK_1.0.0/devcfg>/devcfg.mbn You should flash the kernel and devcfg (Trustzone) during the same fastboot session to avoid running into any issues with the device booting. Let me know if you have any additional questions or run into any issues!

Hi @bschulzhf , voxl-inspect-cam -a command should not be generally used as it puts a lot of stress on the system. just use it to inspect the stream that you need, such as voxl-inspect-cam hires_down_large_color. Also, in your camera config changes, it is not clear exactly what changes you actually made, since you did not provide a diff (but i can see that you probably disabled all the streams except for the preview stream). In any case, you should revert your changes and just inspect the stream you need to estimate the latency. If you want to provide more information about your application, we can suggest appropriate camera server parameter changes. I do see that ae_desired_msv": 60 is potentially too dark (the target average pixel value for auto exposure control) - you can try increasing it and see if the image is too dark. Alex