@tom that worked, thank you!

@Riccardo Okay, thanks for the confirmation. I'll look into increasing that limit to 16 or so.

@teddy-zaremba Thank you
I think Aaron was maybe talking about the depth image that we can get from the tof sensor.
I'll check the aligned point cloud but i don't think he has the confidence data (XYZC)
Julien

@george-kollamkulam , in order to install the updated libmodal-journal package, you just download the file that i linked to VOXL2, lets say you put it in /home/root/.

Then, using adb you go to /home/root and execute:

dpkg -i libmodal-journal_0.2.6-202505081055_arm64.deb

Then you just run voxl-camera-server -l and you should see a lot more information being printed.

Alex

@george-kollamkulam , something seems fishy here.

The Starling 2 drone has the VOXL Mini ESC, which acts as the APM (measures voltage and total current). The ESC sends this data to PX4 via UART together with regular ESC telelmetry.

The Battery status packet is an uint16 with 0.001V resolution, so the maximum voltage it could report would be about 65V (2^16 millivolts).

packet definition:
https://github.com/modalai/px4-firmware/blob/voxl-dev/src/drivers/actuators/voxl_esc/qc_esc_packet.h#L157

packet parsing:
https://github.com/modalai/px4-firmware/blob/voxl-dev/src/drivers/actuators/voxl_esc/voxl_esc.cpp#L577

I suspect something else is going on. Maybe you need to choose a different Source for the battery monitoring (not Power Module)?

Is this voltage 267.55V updating or just stuck at that value?

Alex

@CJoseph said in Starling 2 Max no GPS data:

Hey @Alex-Kushleyev,

I'm attempting this short term fix for a project I'm working on and I'd like to keep in line with recommended practices.

Can you kindly provide the .stl file used for the 3DP mount and also inform me of the material you used to 3DP?

Thanks in advance!
Christopher Joseph.

@Alex-Kushleyev: I'm also planning to repeat your modification, and the .stl file would be very helpful to me as well. I tried a different modification yesterday but it didn't work, so copying yours is my next step.

Thanks for your help.
Bob Judd

@Eric-Katzfey Also, there is a parameter called VOXL_ESC_T_ON. How is that set? It determines which button will be used for turtle mode. The code is here: https://github.com/modalai/px4-firmware/blob/ea098200d3c09b7af548bf7be29fda245fad8f17/src/modules/mavlink/mavlink_receiver.cpp#L2083

@berayksl said in Starling 2 Max Crashes in Position Hold Mode After Disabling Magnetometer for Indoor Flight:

@Cliff-Wong I applied the param file you provided and did some test flights recently. Before the flight, I checked the VIO accuracy by moving the drone around in my hand while monitoring the trajectory in the VIO tab on the portal, and it seemed to be working fine.

During the first flight, I put the drone in “Position Hold” mode. It was holding its position quite well initially. I moved it around and rotated it, and it continued to hold position accurately when I released the sticks.

However, after landing and taking it for another test flight a short while later (same area), it wasn’t able to hold its position well in the z-axis. The drone kept ascending and didn’t respond to RC inputs, so I had to trigger the kill switch for safety.

I noticed that VIO performance seems to vary even when flying in the same area, making it unreliable at times. Additionally, I occasionally get a “Yaw estimate error” message on the portal, but there are no corresponding errors on the QGroundControl terminal, and it still allows me to arm.

Do you have any suggestions on what might be causing:

The inconsistent VIO performance between flights The drone ignoring RC inputs during the second flight The “Yaw estimate error” message (should I be concerned if QGC shows no error)?

I also tried calibrating the cameras (even though I haven’t changed their locations since delivery) by following the link you provided. I was able to calibrate the front camera successfully, but when I try to calibrate the downward-facing camera, the camera feed on the portal becomes extremely laggy, and the calibration app becomes unresponsive after a while, requiring me to reboot the drone each time.

@Eric-Katzfey can you help me with this as @Cliff-Wong was last online 14 days ago?

@Vinny thank you for the informative reply. Cheers

@taiwohazeez Could you post the error and we can take a look?

Also here's an easier way of installing it if you just want to run this script on the voxl.

wget http://voxl-packages.modalai.com/dists/qrb5165/sdk-1.5/binary-arm64/voxl-ros2-foxy_0.0.1_arm64.deb wget http://voxl-packages.modalai.com/dists/qrb5165/sdk-1.5/binary-arm64/voxl-mpa-to-ros2_0.0.7_arm64.deb sudo dpkg -i voxl-ros2-foxy sudo dpkg -i voxl-mpa-to-ros2 voxl-configure-mpa-to-ros2

@Matthew-Wellner , you do not need kernel version 1.0.1, since that is only applicable to M0173.

If you are connecting Boson to J8 via M0153, then it will have the slot ID 4, so sensormodule with index 4 would need to be placed in /usr/lib/camera. Can you please confirm?

Also, when you run voxl-camera-server -l, can you please use dmesg -w to grab the output of the kernel from the moment that you run the camera server list command.

Also, just to double check, are you able to communicate with Boson via USB?

Alex

Here is the output of voxl-camera-server -l, which shows that the system detects 5 cameras, including the TOF sensor:
4.png
5.png

@KLindgren , can you please provide output of voxl-camera-server -l (run it in the foreground) and also output of dmesg -w (hit enter a few times to add some blank lines before you run voxl-camera-server -l, so that it's clear where there is new output).

The output of dmesg should show probing attempt to detect the camera.

Alex

@mkriesel , the exposure and gain period parameters should be set to 1. They were used a long time ago for Auto Exposure control for ov7251 camera, which would have weird image flicker issues if you updated gain every frame, so we would use ae_gain_period set to 2. The issue with ov7251 was also resolved a while ago and it supports gain period of 1.

These parameters specify the update period (in frames) for sending out the new gain and exposure from the AE algo. So these parameters should be set to 1, which is the default for AR0144.

There is no practical reason to use any value other than 1.

Alex

@daz_22 , thanks for sending the output of the spin script. Just to note, the RPMs are reported as ramping up to around 1000 (by the end of the printout) because during the initial phase (spin-up), the ESC operates in open loop mode, where it drives the motor but does not detect the actual speed. During spin-up the predicted RPM is printed, but it could be false, if the motor is stuck or not even attached. The closed-loop control starts after the smooth spin-up, where the true RPM is reported (however you did not provide those prints, but i suspect the ID0 would just try to restart based on the reported RPM).

The MCU in the ESC channel 0 seems to be functional and communicating, so that is good. However, the motor not spinning is not good. From software side, everything looks normal.

If you believe that the Starling 2 Max arrived with non-functional ESC / wiring (who knows?), you should submit an RMA request in order to correct the situation. modalai.com/rma .

If you think the issue might have been caused due to a crash or something like that and you wish us to fix it, you may still submit the RMA request. Alternatively, you could disassemble the drone to gain access to the ESC and see if you can visually detect the issue with the ESC or wiring. Either ESC channel 0 or wiring seems faulty.

Please let me know if you have any other questions.

Alex

@shawn_ricardo Not really a better way at this point, I'd like to at some point just make the network interface able to be specified in the config file as opposed to hard-coded as eth0, but haven't gotten to that yet

@Rocio-Lopez Not sure.

You would have to ask Gremsy about that possibly

@wrossi17 Can you post a photo of your setup?