ModalAI Forum

Files promised below voxl-mapper-packages.zip

@jake_eizy , I ran a quick model to predict the currents and ESC loss for the 12x6 prop. our database did not have the exact model for this prop, so there was a predicted model and an actual modal published by APC. I hope this helps. I can also provide some more details on best practices for testing new motors / props to reduce the chance of a failure while bench testing. I may be able to put that together into updated test scripts that we already have. Alex [image: 1793824122065-3110_10x5_15x6_prop_compare.png]

VOXL 2 Image adapters handle all needed connections to our Image sensors. We cannot give guidance on designs used to replace a VOXL.

We measure RPM using the ESC, it's very accurate and part of our testing qualification on each board, it's very accurate. We do not use any other form of tach.

Thanks! I'll get back to you if I have any more questions.

Resolving this over email. Thanks!

Thanks Tom and Eric, finally resolved this, it ended up being a power supply issue. The unit we used to typically run it on the bench seemingly browned out somewhere in the flashing procedure.

Hi @vinny Thank you for sending the Starling 2 Max STEP file, it's very helpful: the propellers are included, and the frame lines up exactly with the V3 model's coordinates. The export is a single flattened body with no part names, so I can't identify individual components. I have a few questions about the ToF sensor in particular. Configuration: Can you confirm this file is the V4 frame with the C29 sensor package? ToF position: Where is the ToF sensor in this model? A centre point and the direction of the optical axis would be enough, in the file's own coordinates (X right, Y up, Z forward, mm). Comparing it with the V3/C28 model, my best guess is the front-left of the nose, standing upright, around X −13 / Y 10 / Z 63 mm. Is that right? Which ToF parts: Which ToF module and adapter board does C29 use? I tried virtually fitting your public M0178_STARLING_TOF_ADAPTER_REVA and MCAM-00005-TOF-A65 3D models into the nose of this STEP file (software shape-matching, no physical hardware), and neither matches exactly. Is there a different part number, or is the ToF shown in simplified form in this export? Orientation and field of view: An earlier forum post said the C29 ToF is mounted "vertically". Does that mean the 106° side of its 106° × 86° view is vertical, so the horizontal view is 86°? Named-parts version: If possible, could you share the same model as a multi-part STEP with component names, or a dimensioned drawing of the C29 nose showing the ToF, tracking-camera and hi-res-camera positions? I need this to check that a removable payload mount and propeller bumpers stay out of the ToF and tracking-camera views. Thanks again.

Hi @김다연 The INA260 is not supported. M0041 is designed around the INA231 and our power monitoring software expects that part. The two are not drop-in compatible. They differ in register map, device ID, and the INA260 has an integrated shunt rather than the external shunt the M0041 uses, so it is a board change as well as a driver change. Supporting it would require a new driver and a new M0041 variant, neither of which exist. If you need power monitoring on VOXL 2, use M0041 as designed, or take battery voltage and current telemetry from our ESCs, which report it over the ESC UART.

Hi @김다연 Both are enabled by default. If a QUP appears in the table with a device node, it is enabled in the shipped image. No device tree changes or additional hardware configuration required. UART7, J3 pins 3 and 5, /dev/ttyHS1, sys image 1.3+ UART13, J5 pins 97 and 98, /dev/ttyHS3, sys image 1.5+ Full table: https://docs.modalai.com/voxl2-qups/ Note UART13 requires system image 1.5 or newer. Check voxl-version on your unit before wiring it up.

Hi @john-keller , Glad to hear that it works As for the other issue, its possible that this is just a transient bus error somewhere that is causing the problem. If you encounter it again it would definitely be worth taking a closer look. Feel to open another post and tag me in it and I will take a look. Thanks!

There are no explicit checks in the code that would limit backtrack_seconds

Fix verified working, thank you Eric!

Hi @mrawding , sorry for the delay. Unfortunately, we do not offer narrower FOV lenses for AR0144. You could try to find M7 thread lenses from 3rd party sources. It is probably easier to find a new lens than to make an adapter for a 3rd party camera module.. would be impossible for us to support it. Alex

Currently, none of the Thermal cameras (Boson) we support use hardware synchronization. The same is true for the EO cameras (IMX412, IMX664, etc). Only AR0144 cameras are currently enabled with sync input and correct sensormodule for the camera needs to be selected (either _combo or _fsin). Sorry this is a bit vague, not sure how detailed we need to discuss here. Also, please note that you cannot connect a thermal camera (Boson) via M0155 - this adapter is only for EO cameras. there is a difference in pinout and voltages provided. Please see https://www.modalai.com/products/m0155, it lists supported cameras. If you let us know what functionality you are trying to achieve, we can provide more guidance. Please describe all the cameras that you want to connect and which should by sync'ed. Is it only one EO or one IR (which)? Alex

@zachary-lowell-0 That worked perfectly, thanks!

Hi @alex-z-1 Here is the STEP for the front tracking mount: https://storage.googleapis.com/modalai_public/modal_drawings/D0013_Front Tracking Mount.step Note this is the V1 plastic. The V1 Stinger has been EOL for some time, so this came out of archived CAD rather than a current release. One observation from your photos: the film is still on the battery pad. That likely contributed to the battery stop breaking, though it would not have saved the camera housing. Let us know if this helps!

Works, thanks!

Hi @christopher-rajcsok We updated the VRX User Guide page with mechanical information for you. Hope it helps!! https://docs.modalai.com/vrx-ground-unit-datasheet/#enclosuremount [image: 1792436471248-dce4b444-0777-40ac-9a2a-2b58c922961f-image.jpeg]

Hi @K.Stute, IMX377 never became a supported sensor on VOXL 2, and the M0026 IMX377 module is end of life. What is on the board today: The system image ships a sensor module driver for IMX377, but only for camera slot 3 (J7 upper, which is M0084 JU): /usr/share/modalai/chi-cdk/imx377/com.qti.sensormodule.imx377_3.bin voxl-camera-server has no imx377 sensor type, and none of the standard camera configs use it, so voxl-configure-cameras can't set it up. The sensor types the server accepts are listed in common_defs.h. If you want to experiment anyway: copy that bin into /usr/lib/camera, plug the camera into J7 upper, check dmesg for imx377 probe succeeded, then start from an IMX214 hires config on slot 3 and change the resolutions to match the IMX377. That is untested on VOXL 2 and we can't support it. For a 4K hires camera on VOXL 2 we recommend the IMX412 (M0107 or M0161). It has drivers for several slots and is used in the standard camera configs. See VOXL 2 Image Sensors and VOXL 2 Camera Configs.