Hi @dinesh-varun-kandiyappan , Please see follow up responses If your IMX412 camera fails fisheye calibration, this is probably because the lens is not actually a fisheye. Please see the following post regarding a recent lens change : https://forum.modalai.com/topic/5321/imx412-m12-lens-difference the new lens is rectilinear, so you should use the non-fisheye (plumb bob) model The branch that saves the TOF calibration to a file is this one : https://gitlab.com/voxl-public/voxl-sdk/services/voxl-camera-server/-/tree/save-tof-v2-lens-cal . Sorry, we have not mainlined it yet. i will see if we can do that in the near future. see relevant post : https://forum.modalai.com/topic/5054/where-to-find-the-tof-and-hires-sensors-calibration You may consider replacing your lens on IMX412 from the narrow one you have to a wider lens. We have the wide ones in stock and can get you a custom order if needed. Then you will see more features. The fisheye lens is about 30 degrees wider (horizontal FOV) than the non-fisheye. VIO Features - maybe worth starting a separate post because it could be a long discussion and we could focus on that. Maybe make a new post with more details and we can get more folks on our team involved to look into it. 5.0 . PX4 params for Starling 2.. it looks like you may be correct.. double checking.. 7.0 . We are testing Open Vins with rolling shutter cameras, let's discuss in another thread (see above). 8.0 . I don't think we have substantial updates to voxl-tflite-server.. will check.. and yes, qrb5165 is getting relatively old, so support for newer models can be difficult to get. 9.0 . If you are going to load up the cpu / gpu substantially, then a fan / heat spreader is needed. In general this is true for many mobile SoCs - they are powerful and efficient, but cannot sustain running at high utilization for long -- even phones can overheat and employ thermal throttling. My suggestion is to build up features / components one at a time and check your cpu / gpu utilization and thermal. Sometimes inefficient implementation of one component can overheat the whole system. also important to keep track of what resolution images you are using and make sure that you are not sending uncompressed images across regular (non-ION) pipes between processes.. before putting the second VOXL2 on the drone, you should proof everything on the bench. Starling 2 could certainly fit an extra VOXL2 mini. We don't have any official dates for VOXL3 yet, so it's best to focus on VOXL2. I will see if there is any info about VOXL3 we could share right now in terms of supporting newer inference models. Can you please clarify what you mean by control policy? At what level are you training the control model (inputs and outputs?).

The specific leg in question has a number on it - 1460. The legs in the CAD for the C28 show 868B.

@alex-kushleyev @ModalAI-Team . Could you guys help me with this? thank you!

Hi, I would like to know what wifi module is on the drone. The one mounted on the drone is different than AlfaNetworks? Adam

Hello Timothy, Excellent! That is certainly possible to do. Yes, with some configuration it can be compatible. You will need to reconfigure MPA from the C28 camera config to the C29 camera config. They will need a new front camera bezel(M10001278), TOF safety shield(M10000537) and everything in MSU-M0178-1-01. Most of the hardware can be reused but as a precaution would also recommend QTY. 4 M10000884(M1.6X6 Screws) & QTY. 4 M10000882(M2.2X10 Screws). If you would like to proceed with the purchase, please email contact@modalai.com with the contents above. Regards.

@Alex-Kushleyev said in Starling 2 Max C28 vs C29: @jbiscan21 , yes you can add the TOF sensor to Starling 2 Max, but you will also need a new front plastic mount that will hold the hires and tracking cameras as well as the new TOF sensor. You can order the mount (which will be a drop in replacement for the original camera mount) with the TOF sensor. If you do want to proceed with the TOF sensor + plastics order, we will need to double check that all the necessary screws are included. You would need to send an email for a custom order to start this off and mention this thread and that we need to include mounting hardware. https://www.modalai.com/pages/contact-us (related post : https://forum.modalai.com/topic/5157/c29-configuration) See more detailed pictures. [image: 1778622521915-06f55cf3-051e-4cf8-8029-dc558eddf484-image.png] [image: 1778622565955-d6b9c715-eb34-4012-8785-f8c317d4e743-image.png] [image: 1778622615250-74789adc-815b-4c67-9663-aae23dc96106-image.png] Alex @Alex-Kushleyev We are trying to purchase the TOF sensor for our Starling 2 max c28 configuration. The sales department asked to make a post on the forum for technical information which I did here Can you confirm if we can also reference this post to make the purchase for our drone with the required parts included? We'd like to place an order as soon as possible. Thank you, Timothy Zinwota University of Nevada, Las Vegas.

@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

@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?

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

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.

@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.

Update fix Replace defaults.parm with upstream version: https://github.com/ArduPilot/ardupilot/blob/ee1e4bbf74061760826b17464383d63c1a11924c/Tools/Frame_params/ModalAI/Starling2Max.parm Rename Starling2Max.parm to defaults.parm in /data/APM Edit SERIAL3_BAUD=9 (in defaults.parm) Edit GPS1_TYPE=2 (in defaults.parm) Remove *.stg files in /data/APM Reboot and power off the voxl2 multiple times, checking the gps driver