@ey , we are working on making a replacement plastic kit available. It looks like you may have gotten a response from our team already, but moving forward we should have some kits available soon. Alex

@Arunabh-Sharma , I believe the extrinsics file is correct. Here is an extrinsics file for Starling 2 (which can support up to 3 tracking cameras, depending on configuration). https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-tools/-/blob/master/misc_files/usr/share/modalai/extrinsic_configs/D0014_Starling_2.conf tracking_down is the camera we want and the extrinsics are: "parent": "imu_apps", "child": "tracking_down", "T_child_wrt_parent": [-0.08825, -0.0045, 0.0269], "RPY_parent_to_child": [0, 0, 180] [image: 1782188708958-54bec293-dddc-48e7-903b-47dda8c48787-image.png] I have labeled the camera X and Y axes on the down-facing rear camera and the rotation matches up with 180 degree yaw with respect to the drone's body axes (X=forward, Y=right, Z= down) Please note something that may add to the confusion. The front facing tracking camera is technically upside down (using our standard convention that i labeled for the down-facing camera), however we rotate the image 180 degrees in the camera itself during image read-out, so that the image looks right side up without any software work. This 180 degree rotation is selected in voxl-camera-server.conf with a rotation parameter, which instructs voxl-camera-server to set a special register in the camera to reverse the image readout. This is why you will see tracking_front and hires cameras having the same rotation extrinsics, while the tracking_front camera is physically upside down. Some more info about our extrinsics and conventions : https://docs.modalai.com/configure-extrinsics/ Alex

@Alex-Kushleyev Thank you. We will do, but for future reference: @Alex-Kushleyev said in Burnt board components: what type of vehicle was the ESC a part of? Singer Vision FPV 3.5" @Alex-Kushleyev said in Burnt board components: what was the behavior of the motor that was not functioning properly? Not operating a full power with intermittent operation @Alex-Kushleyev said in Burnt board components: did the whole ESC stop working or only one channel, which was originally struggling? Only one channel @Alex-Kushleyev said in Burnt board components: did you notice the burned component when the ESC arrived or did it burn after arrival? We didn't noticed or inspected it. @Alex-Kushleyev said in Burnt board components: was the black paint already on the ESC when you received it? We didn't notice or checked

@daniellee This log shows a normal flight happening in altitude hold mode. RC inputs are coming in and motors are spinning. Was there some issue with the flight this log was captured from?

@Mustafa_Cayci You can get the Starling 2 Max with a ToF sensor for depth mapping indoors (The sensors don't really work outdoors). https://www.modalai.com/products/starling-2-max?variant=49129974923568

So I'm guessing this has to do with the following I noticed in the changelog: 1.7.4 (voxl2_SDK_1.1.3) BSP: add voxl-fysnc-mod kernel module add voxl-gpio-mod kernel module --- GPIO now exporting to /sys/class/gpio convert SE13 from 4W to 2W UART, freeing GPIO36/37 add voxl-platform-mod kernel module --- see /sys/module/voxl_platform_mod/parameters add new target 'M0054-2' support (same rootfs as M0054-1) new kernel new devcfg.mbn In system image 1.7.1 (SDK v1.1.2) on the drone that has no rc issues, recipes-kernel/linux-msm/files/dts/common/m0xxx-modalai-gpio.dtsi has: &soc { b2b_conn_gpio_init { compatible = "modalai,voxl-b2b"; pinctrl-names = "default"; pinctrl-0 = <&tck22912G_ctrl_pin &b2b_pin7 &b2b_pin9 &b2b_pin17 &b2b_pin19 &b2b_pin38 &b2b_pin40 &hs_b2b_pin41 &hs_b2b_pin42 &hs_b2b_pin43 &hs_b2b_pin44 &hs_b2b_pin46 &hs_b2b_pin47 &hs_b2b_pin50 &hs_b2b_pin51 &hs_b2b_pin78 &hs_b2b_pin79 &hs_b2b_pin80 &hs_b2b_pin81 &hs_b2b_pin82 &j10_lvl_shf_ctrl_pin>; status = "ok"; }; rc_in_enable_init { compatible = "modalai,voxl-rc-in"; pinctrl-names = "default"; pinctrl-0 = <&rc_in_3v3_en_pin>; status = "ok"; }; }; In image 1.7.4 (SDK 1.1.3), recipes-kernel/linux-msm/files/dts/common/m0xxx-modalai-gpio.dtsi: &soc { voxl_gpio { compatible = "modalai,voxl-gpio"; pinctrl-names = "default"; pinctrl-0 = <&tck22912G_ctrl_pin &b2b_pin7 &b2b_pin9 &b2b_pin17 &b2b_pin19 &b2b_pin38 &b2b_pin40 &hs_b2b_pin41 &hs_b2b_pin42 &hs_b2b_pin43 &hs_b2b_pin44 &hs_b2b_pin46 &hs_b2b_pin47 &hs_b2b_pin50 &hs_b2b_pin51 &hs_b2b_pin78 &hs_b2b_pin79 &hs_b2b_pin80 &hs_b2b_pin81 &hs_b2b_pin82 &hs_b2b_pin95 &hs_b2b_pin96 &j10_lvl_shf_ctrl_pin &rc_in_3v3_en_pin &ds2_led_red &ds2_led_green &ds2_led_blue &id_som_1 &id_som_2 &id_mai_3 &id_mai_4>; modalai,gpio-init-output-high = <0 1 53 56 57 85 86 87 88 89 124 152 157 159>; modalai,gpio-init-output-low = <36 37 46 54 55 67 82 83 84 131 153 154 155>; modalai,gpio-init-input = <48 49 50 51 52>; status = "ok"; }; voxl_fsync { compatible = "modalai,voxl-fsync"; pinctrl-names = "default"; pinctrl-0 = <&camera_sync_110 &camera_sync_111 &camera_sync_112 &camera_sync_113 &camera_sync_114>; status = "ok"; }; }; And then in image 1.8.06 (SDK v1.6.3) that is on the drone with the bind issues, recipes-kernel/linux-msm/files/dts/common/m0xxx-modalai-gpio.dtsi: &soc { voxl_gpio { compatible = "modalai,voxl-gpio"; pinctrl-names = "default"; pinctrl-0 = <&tck22912G_ctrl_pin &b2b_pin7 &b2b_pin9 &b2b_pin17 &b2b_pin19 &b2b_pin38 &b2b_pin40 &hs_b2b_pin41 &hs_b2b_pin42 &hs_b2b_pin43 &hs_b2b_pin44 &hs_b2b_pin46 &hs_b2b_pin47 &hs_b2b_pin50 &hs_b2b_pin51 &hs_b2b_pin78 &hs_b2b_pin79 &hs_b2b_pin80 &hs_b2b_pin81 &hs_b2b_pin82 &hs_b2b_pin95 &hs_b2b_pin96 &j10_lvl_shf_ctrl_pin &rc_in_3v3_en_pin &ds2_led_red &ds2_led_green &ds2_led_blue &id_som_1 &id_som_2 &id_mai_3 &id_mai_4 &camera_sync_110 &camera_sync_111 &camera_sync_112 &camera_sync_113 &camera_sync_114>; modalai,gpio-init-output-high = <0 1 53 56 57 67 85 86 87 88 89 124 152 157 159>; modalai,gpio-init-output-low = <36 37 54 55 82 83 84 131 153 154 155>; modalai,gpio-init-input = <48 49 50 51 52 110 111 112 113 114>; status = "ok"; }; voxl_fsync { compatible = "modalai,voxl-fsync"; pinctrl-names = "default"; status = "ok"; }; }; So the gpio initialization process changed and rc_in_enable_init was removed between SDK v1.1.2 and v1.1.3, and between SDK v1.1.3 and v1.6.3, GPIO pin 67 got moved from modalai,gpio-init-output-low to modalai,gpio-init-output-high and GPIO pin 46 got removed from modalai,gpio-init-output-low. https://gitlab.com/voxl-public/system-image-build/meta-voxl2-bsp/-/commit/538c324713548174c8c1694680e9cba7f2d47bcb https://gitlab.com/voxl-public/system-image-build/meta-voxl2-bsp/-/commit/ccd3893e062b03d05885da5a279be2f8d2f6c97c Idk which change is responsible for the binding issues. I'd like to avoid flashing v1.1.3 to narrow it down. Can someone explain how the pins are meant to function for my set-up (M0094 + M0054, rc already bound)?

Hi @bschulzhf You need to copy the new sensormodule file with the correct slot id (number at the end) to /usr/lib/camera and (re)move the existing one, so that it does not get picked up by the camera pipeline. Good idea to back up your existing configuration before making changes. Also more general details here : https://docs.modalai.com/configure-cameras/#connect-a-new-camera Alex

@ApoorvThapliyal : the problem (Error message: "set_position_target_local_ned: coordinate frame 0 unsupported") appeared in QGC after updating VOXL SDK from 1.5.0 to 1.6.3. The error blocked me from being able to use QGC to calibrate or arm the drone. Stopping and restarting voxl-vision-hub solved the problem. For now I'm using voxl-vision-hub as it comes on SDK 1.6.3 (no changes yet) and have not made changes to the .conf file (yet).

@Ben-Linne : Thanks for the excellent instructions. Worked perfectly first shot. betaFPV is back to normal and binds to the radio controller ! Best regards, Hector

@jbiscan21 said in Standoffs part: standoffs You can find them here: https://www.modalai.com/products/starling-2-max-replacement-parts?variant=66893548028208

@wilkinsaf You can disable compass with SYS_HAS_MAG = 0 and EKF2_MAG_TYPE = 5. But if you enable it and it isn't healthy you won't be able to arm. Power compensation may work, it depends on your particular drone model and use case.

Good tip. For anyone testing without the GPS module attached, setting SYS_HAS_MAG=0 and EKF2_MAG_TYPE=5 seems to be the key part since the compass is on the GPS board. I was also looking at some compass-related references on 123compass.org while trying to understand the magnetometer side of it.

These are the propellers that were used for that drone https://www.getfpv.com/lumenier-6x4-slow-flyer-propeller-set-of-4-clear.html

@chinlee5 Which drone do you have? Which versions of software are you using? Are those messages appearing on QGC? Also, do not try to arm the drone or fly the drone while attached to a power supply. Only use a battery for that. If you take the drone outside with a full view to the sky so that GPS can acquire satellites do the messages go away?

@jbiscan21 , sorry i am surprised that we don't have a photo of the Starling 2 Max with the TOF mounted. Please see below. The TOF sensor is oriented vertically on the front face, right next to the front hires and tracking cameras. If you need to mount the sensor somewhere else, you can use an available extension flex (it only works for the TOF V2 sensor) : https://www.modalai.com/products/msu-m0170 [image: 1778622060259-82033d14-9ca0-4a39-8963-1bc405ee5d09-image.png]

@Moderator Why is it not plug in play? I found the spot to connect to the board but configuring the SKU based on C29 did not work. Also, the connector seems really short so I am curious how the C29 config looks.