@Barry-Hammond https://docs.modalai.com/voxl-streamer/#how-to-stream-video-with-rtsp-on-voxl

Quality greatly depends on your LTE coverage and VPN performance. I recommend lowering the bitrate in /etc/modalai/voxl-streamer.conf until you're happy with the response rate.

Tailscale can add overhead as well and our recent LTE testing has involved hosting a custom WireGuard server.

@jon That looks like the DSP portion of PX4 didn't exit completely / cleanly from the previous run. What version of the SDK are you running?

@Alex-Kushleyev

Hi Alex, apologies again!

Yes independent zoom is what we would be looking for. Awesome to hear you’ve been working on it. Yeah the three main use cases for us would be recording, streaming, and calibration (Makes it easier for an assembly process to not have to switch camera configs). So here is the minimum channel use case we were looking for

We currently use 
J6_UPPER_SENSOR: imx412-fpv

Channel 1 (Potential Recording Pipe 1 (Full Frame)):
Dimensions: 4040x3040
FPS: 30fps
Zoom: OFF/1x
EIS: OFF
EIS MODE: N/A

Channel 2: (Potential Recording Pipe 2 (Variable Zoom):
Dimensions: 4040x3040
FPS: 30fps
Zoom: Variable (1x-whatever, would be sync with streaming pipe. We would implement this logic)
EIS: ON
EIS MODE: Horizon (or full-follow)

Notes: Would likely leave it to our users whether to record full frame or be synced with streaming pipe. So would only ever need one of the recording pipes likely never both at once.

Channel 3: (Streaming Pipe):
Dimensions: 1280x800 (16:10 matches our tablet aspect ratio, not sure if there is something better to use here.)
FPS: 30fps
Zoom: Variable (1x-whatever)
EIS: On
EIS MODE: Horizon (or full-follow)

Channel 3 (Calibration Pipe):
Dimensions: 1010x760 (we’ve been calibrating at quarter resolution with our own internal calibration routine)
FPS: 30fps
Zoom: Off/1x (zero zoom full picture)
EIS: OFF
EIS MODE: N/A
Notes: Really only need the grayscale/normalized from this.

Anyways, happy to give it a try if you have available. Zero rush, currently juggling a few projects.

Best,
James

@Alex-Kushleyev

I updated the correct kV and uploaded the params to the ESC. I increased the spin-up time from 0.5s to 1s; and spin-up power from 90 to 110 and then to 120. There was a bit of improvement but still the motor spins very intermittently. Previously, it would just barely move and stop. I swapped motors on ESC channel 1 (good channel) and ESC channel 2 (bad channel). So the motor working nicely on channel 1 stopped working when moved to channel 2. And the motor that was not working on channel 2, worked fine when moved to channel 1. So it is definitely not the motor (or short in winding). We have made sure the ESC is free of any debris and not touching anything.

Is there a good way to share video? I can share a folder with you if you give me an email pls.

Thanks.
Regards.

Good tip. For anyone testing without the GPS module attached, setting SYS_HAS_MAG=0 and EKF2_MAG_TYPE=5 seems to be the key part since the compass is on the GPS board. I was also looking at some compass-related references on 123compass.org while trying to understand the magnetometer side of it.

@JB1 Our voxl-remote-id software with WiFi dongle is intended only for reference and is not meant to be a commercially ready system for our customers who need a remote id solution for their VOXL2 based drone products. Integration, testing, validation, and FAA registration with desired hardware is up to the end user. At a minimum the manufacturer id would need to be changed from ModalAI's id to your companies issued manufacturer id.

@bschulzhf ,

I have just posted the drivers for testing here : https://storage.googleapis.com/modalai_public/temp/imx412_test_bins/20260529/imx412_drivers_20260529.zip

These have the mipi bit rate adjusted slightly from 2100Mbps to 2088Mbps as the latter has shown very little interference based on the prior tests.

These drivers have the following resolutions / modes -- note that two modes use higher bitrate (2200Mbps) in order to achieve the required throughput -- 2200 also seems safe.

Mbps: 2088, 4056x3040, 30.0 fps Mbps: 2088, 4040x3040, 30.0 fps Mbps: 2200, 4040x3040, 60.0 fps Mbps: 2088, 3840x2160, 30.0 fps Mbps: 2088, 3840x2160, 60.0 fps Mbps: 2200, 3840x2160, 80.0 fps Mbps: 2088, 2028x1520, 30.0 fps Mbps: 2088, 1996x1520, 30.0 fps Mbps: 2088, 1996x1520, 60.0 fps Mbps: 2088, 1996x1520, 120.0 fps Mbps: 2088, 1936x1080, 30.0 fps Mbps: 2088, 1936x1080, 60.0 fps Mbps: 2088, 1936x1080, 90.0 fps Mbps: 2088, 1936x1080, 120.0 fps Mbps: 2200, 1936x1080, 240.0 fps Mbps: 2088, 1920x1080, 30.0 fps Mbps: 2088, 1920x1080, 60.0 fps Mbps: 2088, 1920x1080, 90.0 fps Mbps: 2088, 1920x1080, 120.0 fps

In order to allow the system to use all the modes, please double check that the following setting is set correctly in /vendor/etc/camera/camxoverridesettings.txt:

maxRAWSizes=20

We will be doing more testing but most likely these updated drivers will become the official ones in an upcoming SDK release.

Alex

@jon And you can find a lot of detailed information about the agent, including the start options, here: https://docs.px4.io/main/en/middleware/uxrce_dds

@Michael-Hatton When you arm the drone it is in flight mode and the motors start to spin. It's that spinning of the motors that you don't want while plugged into a power supply. Only use your battery to actually spin the motors and fly.

@Eyal , sorry for the delay. Here is some additional information regarding Stinger FPV:

https://docs.modalai.com/stinger-vision-datasheet/ base weight with battery : ~570g maximum thrust per motor : 650g @ 15V, 2600g total theoretical theoretical max thrust to weight ratio: 4.5:1, lots of extra margin, but if you add a LOT of weight, will need to check motor temps, etc. CAD model for stinger (may be slightly outdated) : https://forum.modalai.com/topic/5180/looking-stinger-fpv-cad-models -- you can attach your payload to carbon fiber I think that Stinger will be easier to tune up with additional payload because of more responsive and powerful propulsion system than Starling 2. i dont know what your sensor package is so, it is hard to comment about which platform is better. Starling 2 has landing gear that offsets it from the floor. Stringer is much lower to the ground.

Alex

@Jskim This is the repo we use for support of UVC cameras: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-uvc-server. I don't think it will work directly with Seek cameras but you can try. In my experience each new camera requires a bit of integration work and updates to that code.

@Alex-Kushleyev Thank you that fixed it for J6. Is there a reason the same config doesn't work on J7? Ideally was hoping to use J7 since it works better for our layout purposes.

I can get J6U-ar0144 and J6L-imx412 to work but not J7U-ar0144 and J7L-imx412 or J7U-imx412 and J7L-ar0144. For both it cannot find the lower sensor.

Also is there a reason the imx412 driver does not exist for J6 upper?

More detailed GPS documentation would definitely help, especially for troubleshooting setup issues and understanding configuration differences between modules. Saves a lot of guesswork during integration.