@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

@RoyAzriel ,

you can back up your voxl-camera-server.conf and then run voxl-configure-cameras 29 and the following will happen:

all the existing sensormodule files will be wiped from /usr/lib/camera to avoid confusion only those sensormodules that belong in C29 config will be copied from /usr/share/modalai/chi-cdk to /usr/lib/camera the camera server config file (/etc/modalai/voxl-camera-server.conf) will be overwritten with the defaults for C29 configuration -- you can then see the config entry for TOF sensor and copy/paste that into your old config file, if you wish or use the new config file as is.

Alex

@Eric-Katzfey I’m looking for the voxl-emulator Docker image referenced in the documentation:

VOXL Emulator Documentation: https://docs.modalai.com/voxl-emulator/#install-the-voxl-emulator-docker-image

However, in the Development Sources / Developer Portal there doesn’t seem to be any Docker image available for voxl-emulator.

Could you please confirm if the image is still available, or if there is an updated download location for it?

Thanks @Eric-Katzfey ! Here is the pinout for the dev board "UART" port that includes i2C_SCL and I2C_SDA.

0cda71eb-2c0f-4b1b-ba91-8b3862fc9763-image.png

The dev board pins 1-6 matching to J19 pins 1-6

We will give the COMPASS_DISBLMSK parameter a shot and see if that works.

Hi @Alex-Kushleyev,

Thank you for the detailed explanation regarding the Starling 2 payload margin and the thrust-to-weight considerations. The breakdown is very helpful for my design trade-off.

I would like to ask one follow-up regarding the Stinger FPV. In my application, flight endurance is not the primary constraint, so the shorter flight time compared with Starling 2 is not necessarily a blocker. Durability, compact size, and the ability to carry a small external sensor package are more important for this specific use case.

With that in mind, could you please provide a similar payload-oriented assessment for the Stinger FPV?

Specifically:

What is the typical all-up weight of a standard Stinger FPV configuration, including battery? What is the approximate maximum thrust per motor? Using the same recommended minimum thrust-to-weight ratio of approximately 2.0 for good controllability, what additional payload margin would you consider practical? Are there recommended mounting areas or structural points on the Stinger frame for small external payloads? Are there any known limitations compared with Starling 2 regarding payload mounting, center-of-mass sensitivity, or PX4 attitude-controller tuning? For an indoor application where flight time is less critical, would you generally consider Stinger FPV a better candidate than Starling 2 for carrying a small external sensor package, or would you still recommend staying with Starling 2?

At this stage, I am trying to make a platform selection between Starling 2 and Stinger FPV before freezing the mechanical layout. Once I understand which platform has the more suitable payload margin and mounting flexibility, I can share the planned sensor list, estimated added mass, and CAD/mounting concept for your review.

Thanks again for the support.

Best regards,
Eyal

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

@Alex-Kushleyev this is super helpful. Thank you.

@Alex-Kushleyev Thank you so much for your response. It helped a lot.

@mkriesel It's possible the kernel you're flashing is incorrect. Can you provide the full terminal output of the install?

Hi Cbay,
There is a small clock buffer on the edge of the PCB. An RMA can only replace the whole board, not replace a single device. The part to check would be here: image (1).png

@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?

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!

@Matt69 , Do you need the additional PWM outputs to be connected via PX4? If not, perhaps connecting M0065 to a cpu uart and communicating directly would be the simplest (i can help you with that).

Do you have spare SLPI UARTs?

Not sure if PX4 would support multiple voxl2-io drivers running, i guess that should work? I don't think we have tried it. if you have spare slpi uart ports, just give it a shot? There may be a problem with two actuator drivers having the same name.

Alex

Hi @mtcbj
That is the flex stiffener. Our older image modules used stainless steel. Some of our newer modules use laminate.
Those holes are likely just flex/FPC air escapes during the backer lamination process. They do not provide any functional purpose after assembly.
I see no issue filling them with epoxy.
Hope that helps!

@Plingaas02 Regarding odometry in voxl-mavlink-server, it will not modify timestamps on this message. There will be, potentially, VIO odometry messages going to the flight controller from voxl-vision-hub via voxl-mavlink-server and flight controller odometry messages being routed out to the GCS and to the onboard stream. The odometry messages coming from PX4 will have the DSP monotonic timestamp which is different than the Linux monotonic clock and these will drift with respect to each other over time. PX4 runs the timesync service so it can correct the incoming messages from VIO.

@james-emi ,

In our voxl-camera-server, we have a default intrinsics config for the IMX412 camera / lens as follows (focal length approximation is based on a several calibrations). Basically it is a fisheye lens with about 2000px focal length at full resolution (half of that at half resolution, etc). The camera full sensor width is 4056 (hence the x principal point is exactly half of that 2028). In some cases we use slightly trimmed frame (4040 in width). But in any case, that should be enough for a good starting point.

lens_cal.width = 4040; lens_cal.height = 3040; lens_cal.fx = 1999.0; lens_cal.fy = 1999.0; lens_cal.cx = 2028.0; lens_cal.cy = 1520.0; lens_cal.is_fisheye = 1;

Alex

@pmeras , the connector specs are provided here : https://docs.modalai.com/micro-coax-user-guide/ . Specifically, the connector part number is DF56C-26S-0.3V(51).

You can find some more information regarding the cable pinout for our hires camera here : https://docs.modalai.com/M0186/

We do not manufacture custom cables, just the ones used in our VOXL camera ecosystem.

Alex

@leandro , yes we do have M0195 boards available. Please send us a contact inquiry to get a custom order (https://www.modalai.com/pages/contact-us).

The connectors J01, J23, J45 and J67 are not populated - we do not have a build with those connectors. You would need to add them yourself.

Also, we are currently not (yet) officially supporting the ToF pills on this board, there is limited internal testing being done. We may be able to provide limited support for that. If you are interested, i can find out what the status of this effort is.

MCBL-00128 we have is only 75mm, unfortunately.

There is a way to make the TOF V2 work on VOXL2 mini, however it is a bit of a hack (which temporarily enabled a transition to the new TOF V2 while using old camera connectors, which did not provide enough power).

https://www.modalai.com/products/m0178?variant=48528287826224 basically this configuration uses M0169 adapter (instead of M0178). https://docs.modalai.com/M0169/ M0169 requires a power input of 5V ideally 1.5A, provided via the 2-pin JST connector. If you were using a voxl2, then you can use the provided 4-pin power cable with a split connection for the TOF sensor. In case of VOXL2 mini, since it accepts 3.8V input, you will need a separate 5V supply. M0169 can be connected to M0076 or M0135 camera interposers using the standard flex cables, such as M0074 (comes with this kit), M0036.

Note that if you use M0195 camera front end (or M0188), then you will not be able to use the TOF V2 because both camera connectors on voxl2 mini would be used up.

What's included in M0169 kit (from our shop page linked above)
55c9deee-e676-471f-8939-e6ece7f80813-image.png

@AndrewC , sorry for the delay.

There are no hardware modifications to VOXL2 before installing it into Starling 2 Max. You would just need to configure SKU on your new VOXL2 board (https://docs.modalai.com/sku/) and just just reflash the latest SDK to start off clean. During the SDK install, there are a few steps (voxl-configure-mpa) that will load all the needed configurations for your SKU.

Please let us know if you have any issues with that.

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
aa7bc73c-90f7-41ae-9f28-cacb800c72eb-image.png

Alex