@Aniruddha
What version SDK are you using? What are the versions of voxl-mpa-to-ros2, voxl-microdds-agent , voxl-ros2-foxy and voxl-px4. You can find it with the command: voxl-version
My suspicion is that the ros2 message being published is of a different size than what ros2 subscriber is expecting, and that's causing the break
Here are the versions I used that worked for me:
voxl-mpa-to-ros2 0.0.7-202511100959
voxl-microdds-agent 3.0.0-0-202511141239
voxl-ros2-foxy 0.0.1-202511141235
voxl-px4 1.14.0-2.0.134

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

@yaoyuh , it looks like the order has been taken care of. please let us know if you have any more questions.

Alex

@Jesus-Cardenas Flat builds should be available now!!

I have uploaded the latest ar0144 drivers with fsin versions for all camera slots here : https://storage.googleapis.com/modalai_public/temp/ar0144/ar0144_drivers_20260402.zip

There are two additional files (inside the zip), which you should copy to /usr/lib/camera to make sure you have the latest updates:

com.qti.sensor.ar0144.so -- contains functions for exposure / gain control (we recently made some improvements to make gain control smoother) com.qti.tuned.default.bin -- fixed gain scaling so that min gain (1.0x analog gain) is equal to 100 in the HAL3 gain units, not 54 (and the max gain will be 29.6 = 29600 for AR0144) -- you can also double check this using voxl-camera-server -l and update the min/max gain settings in your voxl-camera-server.conf to make sure you are using the full range.

My colleague will follow up with a diagram for locations of the DNI resistors that need to be installed to enable sync signal for camera slots 1 and 3 (0402 0-ohm resistor)

Alex

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

@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

@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!

@Alex-Kushleyev Awesome Thank you!

Additionally, where can I buy the propeller replacements? It's not here https://www.modalai.com/search?page=1&q=propeller

@Alex-Kushleyev said in C29 Configuration:

https://docs.modalai.com/voxl2-coax-camera-bundles/#kit-pictures-and-descriptions

The flex cable is pretty short, where does the tof sensor get mounted exactly after it is plugged in? I assume it is meant to be downward facing.

@Alex-Kushleyev, thank you for your answer.
I confirm your assumption, when I set the decimator to 1, the fps is not divided.
Here are the tests I did on SDK 1.5.0 and SDK 1.6.3 :

test with SDK 1.5.0 ; fps = 10 | standy_enabled = false or true | decimator = 5 | Pipe Name | bytes | wide | hgt |exp(ms)| gain | frame id |latency(ms)| fps | mbps | format | tof_depth | 43200 | 180 | 240 | 2.90 | 0 | 1540 | 28.0 | 10.0 | 3.5 | RAW8 timestamp(ms)| w | h | Zmax | center point (m) (conf) 7170622 | 240 | 180 | 7.1 | -0.0 0.0 0.0 0 fps = 60 | standy_enabled = false or true | decimator = 5 | Pipe Name | bytes | wide | hgt |exp(ms)| gain | frame id |latency(ms)| fps | mbps | format | tof_depth | 43200 | 180 | 240 | 1.30 | 0 | 2155 | 9.3 | 59.9 | 20.7 | RAW8 timestamp(ms)| w | h | Zmax | center point (m) (conf) 10666991 | 240 | 180 | 3.1 | 0.0 0.0 0.0 0 fps = 60 | standy_enabled = false or true | decimator = 5 | Pipe Name | bytes | wide | hgt |exp(ms)| gain | frame id |latency(ms)| fps | mbps | format | tof_depth | 43200 | 180 | 240 | 1.18 | 0 | 869 | 9.4 | 59.9 | 20.7 | RAW8 timestamp(ms)| w | h | Zmax | center point (m) (conf) 10753813 | 240 | 180 | 3.1 | 0.0 0.0 0.0 0 test with SDK 1.6.3 fps = 10 | standy_enabled = true or false | decimator = 1 | Pipe Name | bytes | wide | hgt |exp(ms)| gain | frame id |latency(ms)| fps | mbps | format | tof_depth | 43200 | 180 | 240 | 3.02 | 0 | 260 | 29.7 | 10.0 | 3.5 | RAW8 timestamp(ms)| w | h | Zmax | center point (m) (conf) 2052194 | 240 | 180 | 7.1 | -0.0 0.0 0.0 0 fps = 60 | standy_enabled = true or false | decimator = 1 | Pipe Name | bytes | wide | hgt |exp(ms)| gain | frame id |latency(ms)| fps | mbps | format | tof_depth | 43200 | 180 | 240 | 1.18 | 0 | 7532 | 9.3 | 59.9 | 20.7 | RAW8 timestamp(ms)| w | h | Zmax | center point (m) (conf) 2190721 | 240 | 180 | 3.1 | 0.0 0.0 0.0 0 fps = 60 | standy_enabled = true or false | decimator = 10 | Pipe Name | bytes | wide | hgt |exp(ms)| gain | frame id |latency(ms)| fps | mbps | format | tof_depth | 43200 | 180 | 240 | 1.20 | 0 | 83 | 10.1 | 6.0 | 2.1 | RAW8 timestamp(ms)| w | h | Zmax | center point (m) (conf) 2469720 | 240 | 180 | 3.1 | 0.0 0.0 0.0 0

As you can see, for SDK 1.5.0, fhe fps is NEVER divided, regardless of the value of standby_enabled.
For SDK 1.6.3, fhe fps is ALWAYS divided, regardless of the value of standby_enabled.
So, my problem is solved but I think you have a bug on the management of the paramater 'standby_enabled'.
I fastly investigate the code of voxl-camera-server and I can't find where you are using 'standby_enabled'. Here is the search result in all the project :

# Query: standby_en # ContextLines: 2 6 results - 2 files include/common_defs.h: 370 modal_exposure_msv_config_t ae_msv_info; ///< ModalAI AE data (MSV) 371 372: int standby_enabled; ///< Standby enabled for lidar 373 int decimator; ///< Decimator to use for standby 374 src/config_file.cpp: 129 printf(" gain_min : %d\n", cams[i].ae_msv_info.gain_min); 130 printf(" gain_max : %d\n", cams[i].ae_msv_info.gain_max); 131: printf(" standby_enabled: %d\n", cams[i].standby_enabled); 132 printf(" decimator: %d\n", cams[i].decimator); 133 printf(" independent_exposure:%d\n", cams[i].ind_exp); 642 // standby settings for tof only 643 if(is_tof_sensor(cam->type)) { 644: json_fetch_bool_with_default(item, "standby_enabled", (int*)&cam->standby_enabled, cam->standby_enabled); 645 json_fetch_int_with_default (item, "decimator", &cam->decimator, cam->decimator); 646 }

Maybe you should add a condition in your function PerCameraMgr::ProcessTOFPreviewFrame():

void PerCameraMgr::ProcessTOFPreviewFrame(mpa_ion_buf_t* buffer_info, camera_image_metadata_t meta) { tofFrameCounter++; if(grab_cpu_pitmode_active() && tofFrameCounter % (int)configInfo.decimator != 0){ return; } auto noStridePlaneSize = static_cast<size_t>(pre_width*pre_height*1.5); auto realWidth = static_cast<uint32_t>(pre_width*1.5); uint8_t* noStridePlane; if (buffer_info->stride != realWidth) { noStridePlane = new uint8_t[noStridePlaneSize]; removePlaneStride(buffer_info->stride, realWidth, buffer_info->height, (uint8_t*) buffer_info->vaddress, noStridePlane); } else { noStridePlane = static_cast<uint8_t*>(buffer_info->vaddress); } uint16_t srcPixel16[pre_width * pre_height] = {0}; // NOTE we don't actually puvblish tis particular metadata to the pipe // TOF data is published separately in a very different way to cameras meta.format = IMAGE_FORMAT_RAW8; meta.size_bytes = pre_width * pre_height; meta.stride = pre_width; Mipi12ToRaw16(meta.size_bytes, noStridePlane, srcPixel16); tof_interface->ProcessRAW16(srcPixel16, meta.timestamp_ns); if (buffer_info->stride != realWidth) { delete[] noStridePlane; } M_VERBOSE("Sent tof data to royale for processing\n"); return; }

Best regards
Quentin

@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

@ralinaresg , here is what we have available :

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

@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

@Anthony-Kang , we are looking into this. However, initial attempts to enable Intra Refresh on VOXL2 via the OMX api did not succeed either for h264 or h265. Also h265 does not work with fixed Macro Blocks (Coding Tree Units instead), so it seems the OMX structures for this param would not work with h265.

Alex