@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?

One thing that helped me before was comparing the device tree and driver setup against an already supported sensor with similar specs. A tiny mismatch in clocks or I2C config can stop the sensor from initializing properly.

@Alex-Kushleyev
Hi Alex,

Sorry I wasn't clear before, by '5 Seeker' I mean five drones named seeker. Below is the picture of them:
02631c7c-a34b-43c6-ac8d-94ebbb80d6d2-image.png

The propellers you shared have 3 blades and the ones we have have 2.

Please let me know where I can find replacement propellers and documents for them.

Best,
Mason

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.

Hello @Gerhold-Ten-Voorde ,

This is not related to the quality, but instead, it is a supply chain decision.

Alex

@Alex-Kushleyev Thanks for the follow up and working towards the calibration map. For us the real time processing speed doesn't matter too much, but the image file size does as we need to send the unprocessed images over radio in real time. We were hoping to use voxl-record-raw -j -q 90 as this doesn't show the vertical artifact and results in reasonable file sizes.

@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.

@jbiscan21 , yes you can add the TOF sensor to Starling 2 Max, but you will also need a new front plastic mount that will hold the hires and tracking cameras as well as the new TOF sensor.

You can order the mount (which will be a drop in replacement for the original camera mount) with the TOF sensor. If you do want to proceed with the TOF sensor + plastics order, we will need to double check that all the necessary screws are included. You would need to send an email for a custom order to start this off and mention this thread and that we need to include mounting hardware. https://www.modalai.com/pages/contact-us

(related post : https://forum.modalai.com/topic/5157/c29-configuration)

See more detailed pictures.

06f55cf3-051e-4cf8-8029-dc558eddf484-image.png

d6b9c715-eb34-4012-8785-f8c317d4e743-image.png

74789adc-815b-4c67-9663-aae23dc96106-image.png

Alex

@jbiscan21 , sorry i am surprised that we don't have a photo of the Starling 2 Max with the TOF mounted. Please see below. The TOF sensor is oriented vertically on the front face, right next to the front hires and tracking cameras.

If you need to mount the sensor somewhere else, you can use an available extension flex (it only works for the TOF V2 sensor) : https://www.modalai.com/products/msu-m0170

82033d14-9ca0-4a39-8963-1bc405ee5d09-image.png

@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

@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

@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

@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

@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

hi @jameskuesel , nice to hear from you

Please note that we recently added new functionality to voxl-record-raw-image to save to jpeg using the software jpeg encoder (turbojpeg, similarly to how it's done in voxl-portal for sending the images to the browser):

voxl-record-raw-image -h Record a raw image from an MPA pipe to disk This is typically used for inspecting raw or YUV image data formatting or for loading into something like MATLAB or OpenCV for post-processing. Optional arguments are: -d, --dir {dir} directory to save output files in (default: /data/raw-images/) -h, --help print this help message -j, --jpeg convert to JPEG before saving (supports NV12, NV21, RGB, RAW8 formats) -q, --jpeg-quality JPEG quality for compression (1-100, default: 90) -n, --num-images {n} number of images to save from the pipe (default 1) -m, --meta save metadata in file name (timestamp (us), exposure (us), gain) -s, --skip {n} skip n frames before saving a new frame

VOXL2 should be able to encode up to 4x 4K30 streams (video encoder can do 8K30). So there is no limitations to encode two 4K30 streams (if the stream is larger than 4K, such as 4040x3040, still two of them should be fine). Since MISP supports up to 4 output channels, that should be ok, but it seems that youre issue is that you want to have different zoom on different channels. This is a feature we have also been discussing internally and should be easy to add a param that would behave like this: either shared zoom for all misp channels or individual zoom (via config and controlled via the control pipe). Is that something that would work for you? We could add this pretty quick.

The latest IMX412 driver ( which is here : https://storage.googleapis.com/modalai_public/temp/imx412_test_bins/20250919/imx412_fpv_eis_20250919_drivers.zip) has been optimized to get the following:

various custom resolutions, as mentioned here : https://docs.modalai.com/camera-video/low-latency-video-streaming/#imx412-operating-modes maximize throughput in order to reduce rolling shutter skew (also enable 4040x3040 @60 fps, allowing 4K60 EIS output!) BTW, there has also been quite a bit of headache over IMX412 camera interference with GPS, we are going to release updated IMX412 drivers very soon. see https://forum.modalai.com/topic/5116/gnss-emi-mitigation-guidelines https://docs.modalai.com/emi-mitigation-for-gnss/

Once we release the new IMX412 drivers that do not affect GPS, we will provide better documentation of the existing drivers and difference.. but for now you should just use the "eis" driver for imx412, as i linked above.

Alex

@Alex-Kushleyev Sounds good, thank you!