@Gerhold-Ten-Voorde , our lens holders are custom and we do not have any information we could share about those, but you may be able to find similar lens holders from other sources.

IMX412 : https://www.m12lenses.com/M12-Lens-Holders-s/61.htm

For IMX664, you may want to check Runcam fpv cameras, which appear to have similar lens holder / housing, however i don't know if those would have extra threads you need.

Also, please note that if you are going to try the spacer approach, make sure that there is absolutely no gap between the spacer, lens holder, otherwise light can enter the camera from the side and affect the image quality. Also make sure that even when using the default lens holder with IMX664, the mounting holes in the aluminum housing are covered, so that light cannot get inside.

Alex

@cguzikowski , got it, thanks for the clarification. I will add a camera server config param that would force the auto exposure to run all the time, regardless of whether the streams are used or not. this should be simple.

Also, i was wondering if you decided that the ISP snapshot is good enough for you or you want to explore saving the RAW bayer and processing offline? We have been experimenting with some approaches for offline processing and I can share some scripts, which have some flexibility on how much to de-noise , sharpen, etc. I am also going to add the LSC (lens shading correction) for the offline processing (and later into real-time misp pipeline) to correct for those artifacts that you saw where the colors change across the image.

Alex

@cguzikowski ,

We can add the jpeg meta to the jpeg file saved from voxl-record-raw-image. which fields specifically are good to have?

Also, regarding the exposure settling - can you please provide the exact configuration you are running? specifically, which are enabled (misp, small_video, snapshot) and is auto exposure set to "isp" or not -- maybe provide a camera server config? When using MISP, i believe there is a case that if none of the streams are being used, the AE won't run, but we can fix this for the case of enabled snapshot.

Alex

@extmoddain ,

Can you please send a picture of the damaged ESCs? Which component blew up? Also what do the labels on the ESD bags from those ESCs say?

The 6s version of M0129 (mini ESC) should have a small label on the white 4-pin connector that says either -63 or -65 (meaning 6S and either 3.8V or 5.0V output for VOXL2 mini or VOXL2). We can also check using the serial number (label should be present on the ESC)

https://docs.modalai.com/voxl-mini-esc-datasheet/#specifications

Alex

@ralinaresg , here is what we have available :

https://storage.googleapis.com/modalai_public/modal_drawings/MRB/D0013-V2.STEP

Hi @the_engineer ,

Please see the responses to your questions below:

Is the drone suitable for such an application, or is there a drone better suited for this kind of application?

• Starling 2 Max can be equipped with two global shutter tracking cameras, two high resolution (IMX412) cameras and a TOF sensor, providing the most sensing that our platforms offer.

Is such indoor autonomous operation is feasible with the Starling 2 Max?

• dual-camera VIO can be used for indoor navigation (using our integration with Open Vins software)
• please note that we cannot guarantee performance in your environment and you would like to achieve reliable operation, you would need to become very familiar with the software components and test and address the issues that may come up in your environment
• depending on how narrow the aisles are, you may consider Starling 2 (not Starling 2 Max)

To what extent can this drone be programmed and extended for research or development purposes?

• majority of ModalAI software that runs on VOXL2 is open source : https://gitlab.com/voxl-public/voxl-sdk/

Is the drone programmable with Python or a similar programming language?

• Voxl2 runs Ubuntu 18.04 OS and you can use any standard programming languages. Most of voxl2 apis for data access (camera, imu, etc) are in C/C++ which can be extended to python via bindings. ROS is also supported.

What charge time can be expected?

• Typical recommended charge rate for Li-Ion batteries is 1C, so about one hour, maybe a bit more. You are free to explore other battery vendors if you need faster charge times.

Is a docking station/ induction charging retrofit possible?

• we do not support this feature, but it should be possible with additional design. You would probably need to have your own power management board that allows seamlessly disconnecting the old battery (to be charged) and applying a DC power supply.

Is the drone capable of navigating in subpar lighting conditions?

• you would need to test in your specific environment and address any issues that come up. Lighting is not the only factor, but also amount of useful features, etc

What is the expected maximum flight time at maximum takeoff weight?

• see this thread : https://forum.modalai.com/topic/3732/starling-2-max-payload-capacity-and-flight-time-impact
• additional recommended payload up to 500g

What are the operational temperature limits of the drone?

• Starling 2 Max can operate in reasonable temperatures. However, you would need to monitor your CPU usage - if it hits 95C, automatic throttling will occur and the system may not be able to keep up with all the tasks. ESC is rated to run at least 100C (MCU temperature), so that should not be an issue for this particular drone, which is not significantly loaded in terms of motor power).

Does visual obstacle avoidance also work during remote controlled manual flight?

• please take a look at voxl-vision-hub, but remember that this will be a starting point and you will need to develop your own application based on your requirements and testing : https://docs.modalai.com/voxl-vision-hub/

What is the expected delivery time for the system to Germany?

• Expected to ship within 60 business days from San Diego, CA, as stated on our web site https://www.modalai.com/products/starling-2-max

FYI the voxl-mpa-tools updates have been merged to dev (including the jpeg saving option and option to save timestamp, exposure, gain in the filename -- i think that is what you were referring to). One small change, the timestamp in the filename changed from milliseconds to microseconds.

https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-tools/-/tree/dev

@cguzikowski ,

Can you please clarify what you meant by the following statement in your previous post:

"Also as a side note, the metadata seems to not be recording when using voxl-record-raw-image -j"

Thanks!

@Igor , we just uploaded the emulator docker image, please see details in this post : https://forum.modalai.com/topic/5179/qrb5165-emulator-image-1-6

@huy ,

The latest qrb5165 emulator docker image is v 1.5. We have been updating our downloads section, so it was inadvertently removed.

Right now, this docker image is available in the Downloads / Miscellaneous section and is called 865-rootfs_m0054_qrb5165-emulator-v1.5.tar. You can download it from there.

However, the name and location of this docker image is slightly incorrect. It will be renamed to qrb5165-emulator-v1.5.tar and moved to the Docker Images section soon. So if you cant find it under Miscellaneous section, please look at the Docker Images section.

https://developer.modalai.com/

Alex