ModalAI Forum

Hi Philip, I checked this on a VOXL 2. Adding a second subscriber to /run/mpa/mobilenet_tflite_data is a clean fan-out. The Modal Pipe Architecture creates a separate client connection for each subscriber, so the second subscriber does not consume or steal messages from voxl-tflite-server or from an existing subscriber. I tested this with an existing subscriber already running, then attached another subscriber to mobilenet_tflite_data. The system continued running normally and both consumed messages. See picture below. Only caveat is normal concerns about load and that a slow subscriber can miss data but won't affect other subscribers/server. The qrb5165 emulator should support the MPA/libmodal-pipe itself. The pipe can still exist without the board. However, mobilenet_tflite_data will not appear in the arb5165 emulator without additional setup. That pipe is published by voxl-tflite-server, which itself consumes a camera input pipe. The emulator does not provider an emulation of the physical VOXL2 camera pipeline by default. For simulation, I would start by testing the subscriber against recorded or synthetic MPA data rather than trying to emulate the full camera pipeline. Best, Sean [image: 1786389925636-screenshot-from-2026-08-10-14-13-30.png]

Hi @dakota_ltu Under an NDA we could consider the ESC. However, even under NDA, we cannot share the VOXL 2 Schematics unless the recipient is also a Qualcomm licensee with their own NDA with Qualcomm. If that is still a path with value to you, please use this form: https://www.modalai.com/pages/contact-us

@sebastianp , sorry for the delay. There a lots of questions, let me start with what I can answer right away and will go from there. Hires Video Resolution: Starling 2 Max comes with dual IMX412 cameras (front, down-facing). IMX412 maximum resolution is 4056x3040, which is larger than 4K. 8K is not supported on Starling Max. In general, we do have support for one 8K camera (OV64B), which has maximum resolution of 9248x6944 and that resolution is supported only at 10FPS. The only way to get that camera right now is part of a Flir Hadron combo (Boson + Color camera), which is probably not what you are looking for. So the best bet for Starling 2 Max is to use the provided IMX412 camera. you can see some details regarding operating modes of IMX412 camera here : https://docs.modalai.com/camera-video/low-latency-video-streaming/#imx412-operating-modes Data Pipeline: our camera server application (voxl-camera-server) can publish processed YUV images via shared ION buffers (zero copy) and the user application can receive those buffers for processing without any cpu overhead for doing inter process communication to send the image data. you can also publish raw Bayer data (the exact data that comes from the camera) if that's what you mean by "raw" Optics: no optical zoom is supported on any of our cameras, only digital Onboard AI Compute and Performance I will need to check with colleagues and follow up. Flight Range, Autonomy & Control Starling 2 Max used PX4 as flight controller, so all the standard flight modes are supported Answers to additional questions Camera and Zoom integration: yes, raw and yuv frames can be shared with customer's C/C++ applications via shared buffers (or regular buffers via named pipes, which will have a lot of overhead for duplicating the data). No optical zoom is supported. Examples are available upon request We provide voxl-cross docker image which can be used to build the projects for VOXL2. Majority of ModalAI packages that run on VOXL2 are built using this cross-complier environment and can serve as examples how to build your own applications (you can find most packages here : https://gitlab.com/voxl-public/voxl-sdk) you can mount more hardware on Starling 2 Max, see the following thread regarding flight time : https://forum.modalai.com/topic/3732/starling-2-max-payload-capacity-and-flight-time-impact Frequency selection when you configure your starling 2 max (https://www.modalai.com/products/starling-2-max) , you can select several options and the SKU will change accordingly. The page also has explanation for the different SKU options, so it sounds like you will need: MRB-D0012-4-V4-C28-M11-T9-K2 C28 : dual tracking and dual hi-res cameras M11-T9 : Microhard and Microhard pMDDL2450 and Ghost Atto (2.4Ghz) it seems that this would be a custom SKU that you would need to request a quote for : https://www.modalai.com/pages/contact-us Ground Controller: If the drone ships with an RC transmitter, it should be already bound to the receiver. the controller and receive depends on the selection, see above regarding SKU and the shop page for more description note that the RC controller has no ability to display video, so there is no out-of-the-box ability to stream video without additional setup, such as external computer, display / goggles, etc. I hope that answered a lot of your questions, please let us know additional questions or need clarification regarding anything else. Alex

The Commando 8 user manual is available online

Hello there, @RoyAzriel said: 2d Lidar 50gram above the gps bridge 2 x light ilumination (front, down - we are flying and dark tunnels next to tracking cameras) props guards the are seen by the tracking camera we have added tof camera, moving from C28 to C29 ( currently its not working or wired in sw), we have changed the extrinsix.conf file in /etc/modalai accordingly. all of those changes did not effect our filght and we had good flight with good vio during the flight If the platform we are discussing has this added elements, it is a custom frame. @RoyAzriel said: we are exploting a tunnel for the first time.we use the poshold durung junction turns to hold in place during turbolance. my answer would be we can live with resets assuming we can accumulate the positions for mapping between the resets. Yes, so that is a mapping/loop closure software responsibility, not VIO. @RoyAzriel said: how do we make sure what you are saying is right and we are passing estimates to px4 ? Check your voxl-vision-hub.conf, if en_vio is set to true, it passes to PX4 as external vision estimates. Also rectified by: @RoyAzriel said: HGT_REF=3 //VIO EKF2_EV_QMIN=16 EKF2_EV_CTRL=15 For now, our PX4 flavour doesn't handle VIO resets gracefully always. We currently have overcome this issue by using VFC. Hence, the reason I suggested that you should try to repeat the same maneuver under VFC position. If you have any questions on how to enable VFC, please feel free to ask. @RoyAzriel said: what should I expect ? Likely more robust performance under resets at the potential cost of manually hover thrust, PID/PD tuning. PS: I wanted to try reproducing your setup here with non-modded Starling2 Max, but I am unable to match your setup without logs

The specific leg in question has a number on it - 1460. The legs in the CAD for the C28 show 868B.

I tried cross-compiling latest tflite-server on voxl-corss:V4.4 and got the same error despite adding /usr/include/ in the src/Cmakelist.txt

@royazriel , We do not recommend doing apt upgrade, since we do not test this update method. If you want to update the SDK, you should do that following our SDK install instructions. As an advanced user, you may select to update your apt sources to use dev releases (basically latest dev branches) and selectively install packages that you want to test. The recommended SDK release for Starling 2 (Max) is 1.6.4 With that in mind, please let us know if you have any more questions about this. Alex

Please reach out here: https://www.modalai.com/pages/blue-uas-cleared-fpv-customer-intake-form

@heiko.lizan Any elrs radio that's 900mhz or dual band compatible should work when in low band mode. If the transmitter is running v4+ you should be able to downgrade it to v3 following the elrs update guide It's normal that some services aren't running. You may need to re-enable px4 with systemctl enable voxl-px4

MPA to ROS2 can be found here: https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-to-ros2

I hope you get an answer. They seem to be pretty unresponsive. It seems like a compelling platform, but when I reached out to contact@modalai to ask if the unit operates safely with the current GPS (I thought it was a pretty benign request), they just directed me to the forum. I'm not holding my breath on a response.

OK, thanks for checking. maybe there was a typo before

@zaimin78 , It looks like I got this working. I modified the kernel to do the following not use the combo mode for J6L and allow using J6U as independent camera GPIO109 is used as a shared reset for cameras in slot 1 and 3 (because that's how the signal routing works on VOXL2 + M0135), so the kernel knows that this reset pin is shared this setup is not set up for camera sync - all cameras are running independently I have not tested any cameras in J8U, it may not work - but it should be possible to enable it, just need to test it. You will need to update the kernel on your voxl2: https://storage.googleapis.com/modalai_public/temp/quad_ov7251_boson/qti-ubuntu-robotics-image-m0054-boot-quad-ov7251.img this kernel is based off the kernel that ships with SDK 1.6.3 you can test it before overwriting the current kernel: https://docs.modalai.com/voxl2-kernel-build-guide/#test -- you should do to reduce the chance of bricking your VOXL2 (just in case) HW Configuration: VOXL2 four OV7251 plugged in to J6L. J6U, J7L, J7U via two M0135 adapters without any mods boson320 plugged into J8L via M0194 (you can use M0181 also) there are no shared CCI buses between the ov7251 cameras - slots 0-3 use CCI 0-3 respectively, so no CCI slave address conflicts SW configuration appropriate sensormodules placed into /usr/lib/camera/ -- you can get them from /usr/share/modalai/chi-cdk/ov7251 and ../boson folders: com.qti.sensormodule.ov7251_0.bin com.qti.sensormodule.ov7251_1.bin com.qti.sensormodule.ov7251_2.bin com.qti.sensormodule.ov7251_3.bin com.qti.sensormodule.boson_4.bin use provided voxl-camera-server.conf : https://storage.googleapis.com/modalai_public/temp/quad_ov7251_boson/voxl-camera-server-quad-ov7251-boson.conf may need to modify your Boson resolution from 320x256 to 640x512 if you you have Boson640 Testing after you have all the cameras connected, boot using the test kernel test to see if all cameras are detected: voxl-camera-server -l ... DEBUG: Cam idx: 0, Cam slot: 0, Slave Address: 0x00E2, Sensor Id: 0x7750 DEBUG: Cam idx: 1, Cam slot: 1, Slave Address: 0x00E2, Sensor Id: 0x7750 DEBUG: Cam idx: 2, Cam slot: 2, Slave Address: 0x00E2, Sensor Id: 0x7750 DEBUG: Cam idx: 3, Cam slot: 3, Slave Address: 0x00E2, Sensor Id: 0x7750 DEBUG: Cam idx: 4, Cam slot: 4, Slave Address: 0x00D4, Sensor Id: 0x00FF ... start voxl-camera-server inspect sterams: voxl-inspect-cam ov7251_0 ov7251_1 ov7251_2 ov7251_3 boson [image: 1785341477366-ee693f10-dcf2-4b76-8181-a11a78db9546-image.jpeg] Please give it a shot and let me know if it works! Alex

@moderator Any reply will be much appreciated.