@voxl-phoenix , this may be a hardware issue because VOXL2 will boot just fine without M0173 camera front end plugged in (if the hardware is OK). It is possible that one of the camera connectors (where M0173 plugs in) has broken off or is loose, causing a hardware failure. If you would like a better diagnosis, please share a video of the voxl2 not booting, so we can see the LEDs (i realize there are green leds on top and bottom, but the way your image shows, you can see both of them. Also, in this non-booting state, does the VOXL2 show up as any USB device when plugged into a linux machine using the main USB C connector?

Alex

@astro_phil , unfortunately if the device is not automatically being detected by VOXL2, you may be on your own in terms of building the kernel module for it. Please search the forum for building kernel modules, as some users have tried this. Specifically, this one : https://forum.modalai.com/topic/3841/voxl2-kernel-version/ and maybe a few others as well.

Alex

@newdroneflyer

The different operating TOF modes (for the TOF V2 sensor on Starling 2) are described here in terms of power usage and fps : https://docs.modalai.com/M0178/#irs2975-operating-modes . We do not have exact information, but the different modes emit different amount of IR power and using different modulation schemes. The operating modes are tuned for the different ranges as stated (ultra short, short, mid long), which means depending on your application, you can choose one or the other.

The number of sampling points per frame is the same for each mode, but FPS can be chosen based on what you need and it has to be within the provided specs (short range allows you to use higher fps).

We have not done specific studies to measure the performance of the sensor to the detail that you are asking about.

I can collect some data for you if you need. What format? There are also some tuning parameters, that can be tuned (can be found here with some comments : https://gitlab.com/voxl-public/voxl-sdk/services/voxl-camera-server/-/blob/master/src/tof_interface.cpp?ref_type=heads#L1033) . You would probably need to experiment yourself if you wanted to get the best performance out of the sensor.

Alex

@Ege-Yüceel You can find our warranty information at https://www.modalai.com/warranty

You can find the STEP file for the design here: https://docs.modalai.com/starling-2-datasheet/#starling-datasheet

Starling 2 replacement parts can be found here: https://www.modalai.com/products/starling-2-replacement-parts

If there is a part you need, we can make it available for purchase.

Hi @kestrelsystemsbp , the GPS interference is an ongoing investigation and there are several threads about this on the forum. For Starling 2, we found that moving the wifi dongle to a different location (or offsetting the GPS receiver) helps with interference (it is located right under the gps receiver). Also, elevating the gps receiver and shielding, should help. Please also read through the following discussion related to Starling 2 Max : https://forum.modalai.com/topic/4226/starling-2-max-no-gps-data/

I am not saying that you need such a big mast, but you may need to experiment a bit to figure out how to improve.

I am sorry for the inconvenience and let me know if you need any guidance for checking the signal strength, as described in the other thread. You do not have to use the live streaming plot for checking the individual signal strength -- you could do it directly using the terminal.

enable satellite info to be published from px4 (and start voxl-px4) param set GPS_SAT_INFO 1 query satellite info using px4-listener: px4-listener satellite_info TOPIC: satellite_info satellite_info timestamp: 2611309684 (0.868903 seconds ago) count: 13 svid: [5, 8, 10, 13, 15, 18, 23, 24, 27, 32, 131, 133, 138, 0, 0, 0, 0, 0, 0, 0] used: [1, 1, 1, 0, 1, 0, 1, 1, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0] elevation: [11, 1, 30, 11, 47, 64, 68, 59, 13, 15, 27, 19, 33, 0, 0, 0, 0, 0, 0, 0] azimuth: [74, 232, 213, 36, 37, 138, 241, 85, 209, 172, 165, 173, 158, 0, 0, 0, 0, 0, 0, 0] snr: [0, 0, 26, 17, 32, 14, 29, 30, 15, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] prn: [5, 8, 10, 13, 15, 18, 23, 24, 27, 32, 131, 133, 138, 0, 0, 0, 0, 0, 0, 0]

In open sky conditions, you should have a number of satellites above 40dB (which is not the case in this example i just pasted above). You can see the examples of the good and bad signal in the Starling 2 MAX thread i mentioned above.

Alex

@vjuliani , the tracking camera ( i assume ov7251 or AR0144) is monochrome, so you can not make the image colored. You can install the latest version of the voxl-streamer from dev (nightly builds) http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/ and it should allow you to encode h265.

Alex

the fix has been committed to voxl-camera-server dev branch : https://gitlab.com/voxl-public/voxl-sdk/services/voxl-camera-server/-/commit/520bad13a573dde500d36cf1008e67102e0b6078 . I tested it for the rotated and non-rotated use case using voxl-streamer.

Alex

@jcai, I just tested this. I do see that "Removed 1 sessions" message comes in after ~1 min after the first disconnect, but my second session is not interrupted when this happens.

Please make sure you are using the latest version of voxl-streamer (you can try from nightly dev build). Also, something to double check, whether the two sessions are coming from the same or different port (maybe if you are using vpn or something, there new session starts from the same client port).

Alex

@Vinny
As per the parameters you provided, this sensor cannot operate at temperatures below 0 degrees Celsius.

Thank you!

@tahawaru , you may want to investigate the PX4 documentation for using a motion capture system for flight : https://docs.px4.io/main/en/computer_vision/motion_capture.html .

We have not done this type of testing, so may not be able to help.

Alex

@mkriesel , there is no way to turn off power to just the IMU. It seems your IMU is "broken" and it may not be safe to use it for any application that might involve moving parts 🙂

You can try to restart voxl-imu-server, which will perform a complete re-init of the sensor, but this will probably not fix the actual issue even if it helps with temporarily recovering the sensor from the latched state.

Alex

Hi @ashwin,

Our ESC needs to be tuned for the motor / propeller in order to achieve the best performance. In some cases, without tuning, the performance will be very poor, as there is an expectation of the ESC parameters to match the actual motor + propeller. This is done to ensure consistent and responsive behavior of the ESC.

If you are changing motor / propeller, you should perform the tuning procedure described here : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/master/voxl-esc-tools/calibration.md . Since you are using a 2S battery, you can start with the Starling ESC params (https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/master/voxl-esc-params/D0014_starling_1504_3000kv_ms_props/D0014_starling_1504_3000kv_ms_props.xml) and update the tuning parameters as instructed.

Since you mentioned the sinusoidal spinup, not working properly, you will need to enter the correct kV value in to the ESC param file and may need to adjust the start-up power or target spin-up rpm.

the voxl-esc tools come installed on voxl2 in /usr/share/modalai/voxl-esc-tools and the following are useful commands:

make sure to stop voxl-px4 before using voxl-esc tools : systemctl stop voxl-px4 voxl-esc-scan.py will tell you which ESC firmware you are using - you should upload the latest, which is 39.20. voxl-esc-upload-firmware-all.sh script will autodetect the esc and upload the latest firmware to all 4 of the ESC channels voxl-esc-verify-params.py can be used to check which esc params are installed voxl-esc-upload-params.py can be used to upload new ESC parameters.

Please let me know if you have any other questions.

Alex

@Alex-Kushleyev Thank you for the reply

Currently we are buying Voxl2 flight deck from you, I will be integrating in my drone after integrating what I need to do how to make it fly autonomously can you guide that how sdk works and how 3d map will be created how we need to plan a machine in the sdk

I resolved this issue with replacing indoor_vio.params with indoor_vio_missing_gps.params.

Thanks!

@dguido2023 Sorry you are struggling with your Ghost Receiver. Can you please help with an explicit issue or question? We don't have a problem configuring these in the factory, so maybe we can get you setup quickly.

Have you looked through this guide? https://docs.modalai.com/orqa-ghost/

Which SKU of Starling 2 do you have? Was it preconfigured with a Ghost receiver?

What version of SDK are you using?

If you installed the receiver yourself, how is it connected to the VOXL 2?

Are there specific configuration steps you tried that failed?

@LR The 5G configuration on Starling 2 is a fairly new offering so there may not be fully representative docs live.

@Eric-Katzfey Yes. This is regarding the Starling 2 Max GPS-denied Development Drone.

@SKA What pipes do you see listed in /run/mpa? If you run the command voxl-inspect-vio does it show that VIO is running okay?