@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

I tested the fix and snapshots work now, thank you very much!

Hi @Myles-Levine ,

I just want to double check something to make sure there is no confusion.

The lepton sensor is an IR (thermal) camera. it does not measure range. The lepton sensor plugs into the large square socket that is mounted to the M0157 / M0187 board (they are very similar). The infrared TOF sensor is a smaller (rectangular) sensor, which is marked as U1 on M0187 : https://docs.modalai.com/M0187/ .

Have you checked whether the Lepton sensor is working using voxl-portal, which would allow you to look at the IR image coming from the sensor?

Alex

@Alex-Kushleyev I am wondering why you are using custom lens holders. Is that because standard ones does not fit? Or is it because of quality or other reason?

Gerhold

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

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.

@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

@ZuraNeb Perfect! Thank you!

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!

@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

@ChrisB here is a system architecture to follow: https://docs.modalai.com/voxl2-d0014/

We do not support an RB5, that is a Qualcomm product

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