@Maxwell-Schaefer Thank you! I was able to set the model match to off using the controller screen.

@tom Thank you. I will submit an RMA request.

Hi @mark ,

Thank you for the update. We will keep investigating the underlying issue that was a result of that questionable camera.

Meanwhile, if you think that the camera is defective and has no damage, you can fill out an RMA request and send it back for an exchange. I cant really comment on what could be causing this on the camera itself (it would be interesting to try it), but the camera is not serviceable by the user.

https://www.modalai.com/pages/rma

Alex

@Alex-Kushleyev Hi Alex I'm running into compilation errors when building libmodal-pipe after turning the EN_ION_BUF flag ON (builds fine with the flag OFF)

Found voxl-cross version: 4.4 -- --------------------------------------------------------- -- Using voxl-cross 32-bit toolchain for QRB5165 -- C Compiler : /usr/bin/arm-linux-gnueabi-gcc-7 -- C++ Compiler : /usr/bin/arm-linux-gnueabi-g++-7 -- Sysroot : /opt/sysroots/qrb5165_1 -- C flags : -isystem=/usr/arm-linux-gnueabi/include -isystem=/usr/include -idirafter /usr/include -fno-stack-protector -march=armv7-a -mfloat-abi=softfp -mfpu=vfpv4 -- CXX flags : -isystem=/usr/arm-linux-gnueabi/include -isystem=/usr/include -idirafter /usr/include -fno-stack-protector -march=armv7-a -mfloat-abi=softfp -mfpu=vfpv4 -- EXE Link Flags : -L/opt/sysroots/qrb5165_1/usr/lib32 -L/opt/sysroots/qrb5165_1/lib -L/opt/sysroots/qrb5165_1/usr/lib -L/opt/sysroots/qrb5165_1/usr/arm-linux-gnueabi -L/opt/sysroots/qrb5165_1/usr/lib/gcc-cross/arm-linux-gnueabi/7 -L/usr/lib -- SO Link Flags : -L/opt/sysroots/qrb5165_1/usr/lib32 -L/opt/sysroots/qrb5165_1/lib -L/opt/sysroots/qrb5165_1/usr/lib -L/opt/sysroots/qrb5165_1/usr/arm-linux-gnueabi -L/opt/sysroots/qrb5165_1/usr/lib/gcc-cross/arm-linux-gnueabi/7 /opt/sysroots/qrb5165_1/usr/lib/gcc-cross/arm-linux-gnueabi/7/libgcc.a /opt/sysroots/qrb5165_1/usr/lib/gcc-cross/arm-linux-gnueabi/7/libgcc_eh.a /opt/sysroots/qrb5165_1/usr/lib/gcc-cross/arm-linux-gnueabi/7/libssp_nonshared.a /opt/sysroots/qrb5165_1/usr/arm-linux-gnueabi/lib/libc_nonshared.a -L/usr/lib -- The C compiler identification is GNU 7.3.0 -- The CXX compiler identification is GNU 7.3.0 -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Check for working C compiler: /usr/bin/arm-linux-gnueabi-gcc-7 - skipped -- Detecting C compile features -- Detecting C compile features - done -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Check for working CXX compiler: /usr/bin/arm-linux-gnueabi-g++-7 - skipped -- Detecting CXX compile features -- Detecting CXX compile features - done -- INFO: building with ion buf support -- INFO: building with mavlink support INFO: Skipping Building Python Bindings -- INFO: Skipping examples and tools -- Configuring done (1.8s) -- Generating done (0.0s) -- Build files have been written to: /home/root/build32 [ 10%] Building C object library/CMakeFiles/modal_pipe.dir/src/start_stop.c.o [ 30%] Building C object library/CMakeFiles/modal_pipe.dir/src/client.c.o [ 30%] Building CXX object library/CMakeFiles/modal_pipe.dir/src/buffers.cpp.o [ 50%] Building C object library/CMakeFiles/modal_pipe.dir/src/interfaces.c.o [ 50%] Building C object library/CMakeFiles/modal_pipe.dir/src/sink.c.o [ 60%] Building C object library/CMakeFiles/modal_pipe.dir/src/common.c.o [ 70%] Building C object library/CMakeFiles/modal_pipe.dir/src/misc.c.o [ 80%] Building C object library/CMakeFiles/modal_pipe.dir/src/server.c.o [ 90%] Building CXX object library/CMakeFiles/modal_pipe.dir/src/buffers/gbm.cpp.o /home/root/library/src/server.c: In function 'pipe_server_write_ion_buffer': /home/root/library/src/server.c:1757:102: error: format '%ld' expects argument of type 'long int', but argument 5 has type 'int64_t {aka long long int}' [-Werror=format=] printf("server preparing to send ion buffer id %d (fd %d) to clients, n_clients: %d, time: %ld\n", ~~^ %lld ion_buf->buffer_id, fd, c[ch].n_clients, _time_monotonic_ns()); ~~~~~~~~~~~~~~~~~~~~ /home/root/library/src/client.c: In function '_stop_helper_and_remove_pipe': /home/root/library/src/client.c:1353:56: error: format '%ld' expects argument of type 'long int', but argument 3 has type 'int64_t {aka long long int}' [-Werror=format=] if(en_debug) printf("ch: %d, shutdown socket %ld ns\n", ch, _time_monotonic_ns()); ~~^ ~~~~~~~~~~~~~~~~~~~~ %lld /home/root/library/src/client.c: In function 'pipe_client_close': /home/root/library/src/client.c:1475:43: error: format '%ld' expects argument of type 'long int', but argument 3 has type 'int64_t {aka long long int}' [-Werror=format=] printf("ch: %d, shutdown socket %ld ms\n", ch, _time_monotonic_ns()); ~~^ ~~~~~~~~~~~~~~~~~~~~ %lld cc1: all warnings being treated as errors make[2]: *** [library/CMakeFiles/modal_pipe.dir/build.make:93: library/CMakeFiles/modal_pipe.dir/src/client.c.o] Error 1 make[2]: *** Waiting for unfinished jobs.... cc1: all warnings being treated as errors make[2]: *** [library/CMakeFiles/modal_pipe.dir/build.make:149: library/CMakeFiles/modal_pipe.dir/src/server.c.o] Error 1 make[1]: *** [CMakeFiles/Makefile2:106: library/CMakeFiles/modal_pipe.dir/all] Error 2 make: *** [Makefile:136: all] Error 2

Seems like I'm going down an uncharted path here. I'm okay with spending my time charting it out since getting QVIO to work with ION pipes will save us critical CPU util. Does ModalAI have plans to switch the official SDK QVIO server release (for qrb5165) to using ION pipes (I saw ModalAI switched to using the MISP pipes for QVIO a few months ago, taking a CPU hit)?

@jeremyrbrown5 we figured it out, we just changed the name of the model to yolov8n_float16.tflite. Pretty spot on now!

@Hunter-Scott Can you update to SDK 1.6.0? Then do the ver all and qshell voxl_esc status commands again and attach the output?

@Zachary-Lowell-0 Got it, I will try that out and will let you know if I have any more questions. Thanks for your help!

@Alex-Kushleyev this is awesome thank you. We're using the FLIR 640R+ sensor that just came out not terribly long ago which has the 20mK sensitivity. I will try those methods and get back to you on what works! This would be super cool to get directly into the camera-server as a stream. We are using it for helping guide animal localization on our aerial survey system.

Thanks,
Joseph

@taiwohazeez Can you post a video of it trying to fly?

@Nitin-Varma-Vegesna I think it's this one: https://store.3dr.com/mini-gps-ublox-max-m10s/

@tom Thank you! Submitted the RMA today (22-NOV-2025). Did not get any number or anything, but the following message: a25e2aa8-af17-4b82-8b20-c78ef379e805-image.png

@Muqing-Cao Here you go: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-vision-hub/-/blob/dev/src/vio_manager.c?ref_type=heads#L450

@Jakub-Tvrz said in Starling 2 Max for indoor:

We haven't bought anything yet, but we are deciding what will be the best for our warehouse inventory application. Of course, we considered the ToF option. But you still say: "however, it is not... great" - does that mean that Starling 2 is better for our application? Or does Dual vs Triple camera for Visual Inertial Odometry also have an impact?

Reply

Depends fully on your use case. I will say that PX4's instance of obstacle avoidance is not fantastic, but it is better than nothing. In my opinion I would go w/ the model that has all the bells and whistles in case you need the hardware and decide to develop your own collision avoidance or somethign of that nature.

@aspen The landing detector in PX4 isn't perfect (obviously) so in this case it didn't detect the landing. I would map one of the switches to toggle between arm and disarm so that when the drone lands you can disarm via switch. Did you try the v1.16 package?

@N-Chen
To anyone reading this, maybe encountering the same issue in the future.
I've tested the board with a guy that has a lot of experience with the voxl2 board,
According to him, the board was faulty, probably some electrical issue, the amperage did not cross 0.1, and the board usually runs on something like 0.5.
I've replaced my board as well as my power-supply cables (which were also under par).

@Alex-Kushleyev

I just noticed with the updated documentation that the J4 connector on the M0201 board is not the USB connector but J3, which is the USB one, is not soldered on. Our Boson+ 640 is purchased separately and is therefore not configured properly.

Is this J3 port the one which has to be used to enable MIPI output on the camera? If so, is it possible to solder the connector on or are also other components on the M0201 board required?

Also is the functionality of the J3 connector on the M0201 the same as Flir's adapter board: https://www.apliter.com/en/product/usb-vpc-kit-para-flir-boson/

Thank you for your help!

@voxltester Only if it is connected to a GCS that sends the Mavlink SYSTEM_TIME message.

@Rowan-Dempster , you should use a monochrome stream (_grey), since QVIO needs a RAW8 image.

If you are not using MISP on hires cameras, that is fine, you can start off using the output of the ISP.

You should calibrate the camera using whatever resolution you decide to try. This is to avoid any confusion, since if you using ISP pipeline, the camera pipeline may select a higher resolution and downscale + crop. So whenever you are changing resolutions, it is always good to do a quick camera calibration to confirm the camera parameters.

When using MISP, we have more control over which camera mode is selected, because MISP gets the RAW data, not processed by the ISP, so we know the exact dimensions of the image sent from camera.

Alex

@cbay ,

We support any camera that is compatible with UVC (plugged into a usb port). Please look into voxl-uvc-server. https://docs.modalai.com/voxl-uvc-server/

Regarding NIR, have you considered using a regular camera (most cameras are sensitive to NIR) and install a lens with a NIR pass filter (if you dont want to see visible light)? Then you could use one of our hi-res cameras like IMX412 or IMX664. I can get you spectral response plot of those sensors if you need.

Alex

@kabumei
Hello, my name is Naoki, I am keen on this project, could you send me a detail to major.gits501@gmail.com?