ModalAI Forum

@NikosMav Yes, things will get hotter when running QVIO. But once you arm and start the props everything will cool down. When reflashing the SDK I would grab one of the official releases from our downloads page and not a nightly.

Hi team — just bumping this in case it slipped through. We're ready to buy one evaluation unit and would really appreciate a quick steer: can the Stinger Vision FPV run AUTONOMOUS VIO/SLAM + AprilTag precision landing, or would Starling 2 / Starling 2 Max be the better evaluation platform for the requirements above? I've also emailed sales@modalai.com in parallel, so whichever channel is easier works for us. Thanks!

Sorry to hear that. https://www.modalai.com/pages/rma You can provide a link to this post when you submit it.

if no internet is available onboard llm+NPU can help repairing-agent to fix the issue or provide reason of failure.

Hello Timothy, Excellent! That is certainly possible to do. Yes, with some configuration it can be compatible. You will need to reconfigure MPA from the C28 camera config to the C29 camera config. They will need a new front camera bezel(M10001278), TOF safety shield(M10000537) and everything in MSU-M0178-1-01. Most of the hardware can be reused but as a precaution would also recommend QTY. 4 M10000884(M1.6X6 Screws) & QTY. 4 M10000882(M2.2X10 Screws). If you would like to proceed with the purchase, please email contact@modalai.com with the contents above. Regards.

@PatkirkMartin In order to toggle power via PX4 you can do the following: Set GPIO_CTL_CH to the AUX channel you'd like to use for this feature, e.g., 3 for RC_MAP_AUX3. Set the corresponding RC_MAP_AUX# to the button/switch you want to use. e.g. 10 for channel 10 on your RC transmitter.

Hi @Julian , Thank you for the detailed report. It does look like there is a missing (or broken? hard to see) magnet in the motor, in which case the motor will not work properly and should be replaced. No further testing is needed, as this is most likely a manufacturing defect of the motor or a result of an impact. If you believe that the motor was defective when you received the product, you should request a free replacement motor (submit an RMA form) . If the motor was damaged while testing, you can purchase a new motor. The Starling 2 Max replacement parts can be found here : https://www.modalai.com/products/starling-2-max-replacement-parts (however i don't see just motors without a frame + motors kit, will double check..) Alex

@Eric-Katzfey Thank you so much this fixed the issue!

@ralinaresg What SDK version is loaded on the Stinger?

For visibility, since this seems related to the old BLE/VOXL discussion here: https://forum.modalai.com/topic/1730/bluetooth-ble-communication-on-the-voxl-is-it-possible I was able to get BLE 5.0 extended advertising scanning working on VOXL2 / Starling 2 with an ASUS BT500 / Realtek RTL8761B USB adapter by backporting newer upstream Linux Bluetooth HCI event parsing logic into the QRB5165 4.19 kernel tree. My understanding is future revisions of VOXL will have more up to date kernels that solve this issue without back porting. The issue we were hitting was with LE Extended Advertising Reports. With BLE 5.0 beacons transmitting extended advertising, the older 4.19 Bluetooth path could mis-handle extended advertising report parsing / event-type bits, leading to bad report handling and, in our case, Bluetooth instability / crashes during scanning. The relevant upstream Linux changes I used as reference include: b48b833f9e8a - Bluetooth: HCI: Use skb_pull_data to parse LE Ext Advertising Report event ad38e55e1c89 - Bluetooth: hci_event: Ignore reserved bits in LE Extended Adv Report 0cadf8534f2a - Bluetooth: hci_event: Mask data status from LE ext adv reports There are also related Realtek / extended-scan quirk changes upstream, but for our immediate case the stronger LE extended advertising parser backport was enough to stop the crash path and allow scanning. Validated result: VOXL2 / Starling 2 QRB5165 4.19 kernel ASUS BT500 / RTL8761B USB BLE adapter BLE 5.0 beacons using extended advertising btmgmt --index 0 find -l successfully reports devices and RSSI btmon captures LE Extended Advertising Report events no more Bluetooth NULL pointer dereference / hci_le_ext_adv_report_evt crash during the test observed all 16 expected beacons and repeated RSSI samples I’m not proposing this as a merge-ready ModalAI patch, but I put the build changes and notes here in case anyone else needs BLE 5.0 extended advertising / RSSI collection on VOXL2: https://gitlab.com/steven323/qrb5165-kernel-build-docker Relevant upstream commit links: https://git.kernel.org/pub/scm/linux/kernel/git/torvalds/linux.git/commit/?id=b48b833f9e8a https://git.kernel.org/pub/scm/linux/kernel/git/torvalds/linux.git/commit/?id=ad38e55e1c89 https://git.kernel.org/pub/scm/linux/kernel/git/torvalds/linux.git/commit/?id=0cadf8534f2a

@astro_phil , I just tested your configuration on voxl2 mini ov7251 connected to M0135 JL imx214 connected to M0135 JU M0135 interposer connected to Voxl2 mini J7 cameras are connected to hardware camera slots 2 and 3 respectively This particular board is using an old SDK but it should not matter, kernel variant 2.0.0 hw platform: M0104 mach.var: 2.0.0 -------------------------------------------------------------------------------- voxl-suite: 1.3.3 voxl-camera-server -l DEBUG: Attempting to open the hal module DEBUG: SUCCESS: Camera module opened on attempt 0 DEBUG: ----------- Number of cameras: 2 DEBUG: Cam idx: 0, Cam slot: 2, Slave Address: 0x00E2, Sensor Id: 0x7750 DEBUG: Cam idx: 1, Cam slot: 3, Slave Address: 0x0020, Sensor Id: 0x0214 DEBUG: Note: This list comes from the HAL module and may not be indicative DEBUG: of configurations that have full pipelines DEBUG: Number of cameras: 2 dmesg: [ 209.617719] CAM_INFO: CAM-ICP: cam_icp_mgr_hw_open: 3879 FW download done successfully [ 209.648730] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.59 [ 209.649003] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.55 [ 209.649103] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.60 [ 209.649137] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.79 [ 209.666156] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 918 Probe success,slot:3,slave_addr:0x20,sensor_id:0x214 [ 209.666263] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.79 [ 209.670389] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.60 [ 209.670476] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.55 [ 209.670541] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.59 [ 209.688989] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Linked as a consumer to regulator.59 [ 209.691170] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Linked as a consumer to regulator.55 [ 209.693356] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Linked as a consumer to regulator.60 [ 209.693454] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Linked as a consumer to regulator.79 [ 209.717968] CAM_INFO: CAM-SENSOR: cam_sensor_set_alt_id: 731 [Applying Alternative Address] : Sensor Index : 2538021044 [ 209.717979] CAM_INFO: CAM-SENSOR: cam_sensor_set_alt_id: 732 [Applying Alternative Address] : Slave Address : 0xE2 [ 209.717988] CAM_INFO: CAM-SENSOR: cam_sensor_set_alt_id: 733 [Applying Alternative Address] : Slave sensor id: 0x7750 [ 209.717997] CAM_INFO: CAM-SENSOR: cam_sensor_set_alt_id: 734 [Applying Alternative Address] : cci_client sid : 0x71 [ 209.718308] CAM_INFO: CAM-SENSOR: cam_sensor_set_alt_id: 770 [Applying Alternative Address] : Probe : Alternate address updated [ 209.718543] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 918 Probe success,slot:2,slave_addr:0xe2,sensor_id:0x7750 I also tested the same configuration in J6: voxl-camera-server -l DEBUG: Attempting to open the hal module DEBUG: SUCCESS: Camera module opened on attempt 0 DEBUG: ----------- Number of cameras: 2 DEBUG: Cam idx: 0, Cam slot: 0, Slave Address: 0x00E2, Sensor Id: 0x7750 DEBUG: Cam idx: 1, Cam slot: 1, Slave Address: 0x0020, Sensor Id: 0x0214 DEBUG: Note: This list comes from the HAL module and may not be indicative DEBUG: of configurations that have full pipelines DEBUG: Number of cameras: 2 dmesg [ 216.996797] CAM_INFO: CAM-ICP: cam_icp_mgr_hw_open: 3879 FW download done successfully [ 217.029303] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.58 [ 217.029395] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.55 [ 217.029484] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.60 [ 217.029516] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.79 [ 217.046069] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 918 Probe success,slot:1,slave_addr:0x20,sensor_id:0x214 [ 217.046191] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.79 [ 217.050324] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.60 [ 217.050407] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.55 [ 217.050470] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.58 [ 217.069409] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.58 [ 217.071541] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.55 [ 217.073710] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.60 [ 217.073801] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.79 [ 217.097221] CAM_INFO: CAM-SENSOR: cam_sensor_set_alt_id: 731 [Applying Alternative Address] : Sensor Index : 390152372 [ 217.097229] CAM_INFO: CAM-SENSOR: cam_sensor_set_alt_id: 732 [Applying Alternative Address] : Slave Address : 0xE2 [ 217.097234] CAM_INFO: CAM-SENSOR: cam_sensor_set_alt_id: 733 [Applying Alternative Address] : Slave sensor id: 0x7750 [ 217.097239] CAM_INFO: CAM-SENSOR: cam_sensor_set_alt_id: 734 [Applying Alternative Address] : cci_client sid : 0x71 [ 217.097532] CAM_INFO: CAM-SENSOR: cam_sensor_set_alt_id: 770 [Applying Alternative Address] : Probe : Alternate address updated [ 217.097747] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 918 Probe success,slot:0,slave_addr:0xe2,sensor_id:0x7750 By the way, i think the SDKs are now not including the imx214 driver for slot 1. If you need it, you can use the following drivers https://storage.googleapis.com/modalai_public/temp/imx214_test_bins/imx214_eis_drivers_20250815.zip for all camera slots. The only functional change of these drivers is that the maximum resolution of the sensor has been changed from 4208 x 3120 to 4196 x 3120 due to some optimizations in gpu-based debayering that require certain image width (long story, but you can still use this driver, just may need to adjust your camera server config so that you are not requesting impossible resolution). When you do your tests, please make sure you have the correct sensormodule id's for each camera in /usr/lib/camera . The slot number where the camera is physically plugged in has to match the index at the end of the sensormodule file name (before .bin). Alex

@Alex-Kushleyev said in Starling 2 Max C28 vs C29: @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. [image: 1778622521915-06f55cf3-051e-4cf8-8029-dc558eddf484-image.png] [image: 1778622565955-d6b9c715-eb34-4012-8785-f8c317d4e743-image.png] [image: 1778622615250-74789adc-815b-4c67-9663-aae23dc96106-image.png] Alex @Alex-Kushleyev We are trying to purchase the TOF sensor for our Starling 2 max c28 configuration. The sales department asked to make a post on the forum for technical information which I did here Can you confirm if we can also reference this post to make the purchase for our drone with the required parts included? We'd like to place an order as soon as possible. Thank you, Timothy Zinwota University of Nevada, Las Vegas.

@ey , we are working on making a replacement plastic kit available. It looks like you may have gotten a response from our team already, but moving forward we should have some kits available soon. Alex

@Engineer123 You can download all the necessary flat build files from our page: [modalai.filecloudonline.com](link url). Go into flat builds folder and download the m0054(154-1) flat build file With regards to actually flashing the flat build, and using modal-qdl repo: Make sure to put the flat build file properly in a correct folder as mentioned by the doc (./qdl/qfil_app/modalai). Make sure the file is unzipped (it should be m0054(154-1)/ all the files, NOT m0054(154-1)/m0054(154-1)/....) Some users have seen a higher qdl success rate when they ran install_dependencies.sh and run.sh with sudo commands. So sudo might work better Confirm that the voxl is in edl mode

@voxltester As I tried to explain before, don't wait for voxl-mavlink-server to connect to your application. You need to have it initiate the connection to voxl-mavlink-server.

@Eric-Katzfey thanks. before I did sdk reflash I found out the px4 params were somehow corrupted. I have tried to reproduce these values without success. what made it work is taking a similar drawn read the params usign px4-param show -a and writing the to the corrupted one.

@John-Keller , please try https://docs.modalai.com/voxl2-unbricking/

Hi @isagmz That is indeed a cap. It is a 4.7uF 25V 0603 in support of the 5V input rail when sourced by J5. [image: 1782190949170-0a20b27c-498c-4971-be16-f9c02719c08f-image.png] We have so much margin on the 5V power rail, I would not worry about one cap missing. My best advice is to clean up that area to make sure there is no FOD or ripped up pads that can cause a short on that 5V rail from the broken cap, and just keep developing. Let us know if you have any other issues. Thanks!

@zaimin78 , I am sorry for the long delay, we somehow missed this post. Can you please let me know which kernel variant you are using? (you can check it using voxl-version and look at mach.var. There is no good way of making this configuration work, because the default function of J6U is actually disabled by default in favor for using a stereo camera setup, as shown here : https://docs.modalai.com/voxl2-camera-configs/#c-10-front-stereo-only-ov7251 . So the kernel variant that is compatible with the M0135 / M0076 interposers, cannot be used for any camera in J6U camera slot (slot 1). However, the J7U and J7L should work. The way to make the 4th camera work is to use either M0135 or M0076 to connect it to J8L (slot 4) instead of J6U. I am not sure why your J7U (slot 3) did not work -- can you try connecting without extension cables? Alex

@Arunabh-Sharma , I believe the extrinsics file is correct. Here is an extrinsics file for Starling 2 (which can support up to 3 tracking cameras, depending on configuration). https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-tools/-/blob/master/misc_files/usr/share/modalai/extrinsic_configs/D0014_Starling_2.conf tracking_down is the camera we want and the extrinsics are: "parent": "imu_apps", "child": "tracking_down", "T_child_wrt_parent": [-0.08825, -0.0045, 0.0269], "RPY_parent_to_child": [0, 0, 180] [image: 1782188708958-54bec293-dddc-48e7-903b-47dda8c48787-image.png] I have labeled the camera X and Y axes on the down-facing rear camera and the rotation matches up with 180 degree yaw with respect to the drone's body axes (X=forward, Y=right, Z= down) Please note something that may add to the confusion. The front facing tracking camera is technically upside down (using our standard convention that i labeled for the down-facing camera), however we rotate the image 180 degrees in the camera itself during image read-out, so that the image looks right side up without any software work. This 180 degree rotation is selected in voxl-camera-server.conf with a rotation parameter, which instructs voxl-camera-server to set a special register in the camera to reverse the image readout. This is why you will see tracking_front and hires cameras having the same rotation extrinsics, while the tracking_front camera is physically upside down. Some more info about our extrinsics and conventions : https://docs.modalai.com/configure-extrinsics/ Alex