ModalAI Forum

Hello @Gerhold-Ten-Voorde , This is not related to the quality, but instead, it is a supply chain decision. Alex

@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 , 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 [image: 1778622060259-82033d14-9ca0-4a39-8963-1bc405ee5d09-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) [image: 1778554794410-55c9deee-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

@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

@Alex-Kushleyev Sounds good, thank you!

@ApoorvThapliyal Thank you for your help. also I was able to work with jazzy by only subscribing and printing with node. since error only occurred when I tried to echo the topic and not when another node is subscribing it. but using docker seems like most viable option to me since I m using ubuntu 24.04. Thank you for your help again

Hi Kim, There are a couple changes required here that will make this work: 1. Rebuilding Kernel with SPI14 enabled You're going to have to rebuild and flash the kernel with QUP14 enabled as SPI. There is also a directional level shifter on GPIO67 that needs to be set to high in order for SPI on QUP 14 to work. I created this branch for you that should have the kernel changes that you need: feature/voxl2-mini-spi-qup14 (link) In order to actually build and flash the kernel please follow the instructions from our public docs on how to build the kernel https://docs.modalai.com/voxl2-kernel-build-guide/ When building the kernel, after syncing but before building, make sure to go to the cloned meta-voxl2-bsp directory and checkout the branch that I created (feature/voxl2-mini-spi-qup14). Also there is a chance you may need to build a kernel variant depending on your device so also make sure to check this document to see if you have a -2 device which would require building the kernel with the -v var02 flag https://docs.modalai.com/m0054-versions/#m0054-1-and-m0054-2 2. Configuring Trustzone with Correct QUP I would recommend using the devcfg binary that comes from the `voxl2-mini_SDK_1.0.0.tar.gz. In order to flash devcfg you'll want to run the following command fastboot flash devcfg <path/to/voxl2-mini_SDK_1.0.0/devcfg>/devcfg.mbn You should flash the kernel and devcfg (Trustzone) during the same fastboot session to avoid running into any issues with the device booting. Let me know if you have any additional questions or run into any issues!

@Alex-Kushleyev I reflashed 1.6.3 on the VOXL 2 twice and it seemed to fix it the second time. Weird that it fixed it and I am also unable to reproduce the issue again. At least it works now lol.

Hi @bschulzhf , voxl-inspect-cam -a command should not be generally used as it puts a lot of stress on the system. just use it to inspect the stream that you need, such as voxl-inspect-cam hires_down_large_color. Also, in your camera config changes, it is not clear exactly what changes you actually made, since you did not provide a diff (but i can see that you probably disabled all the streams except for the preview stream). In any case, you should revert your changes and just inspect the stream you need to estimate the latency. If you want to provide more information about your application, we can suggest appropriate camera server parameter changes. I do see that ae_desired_msv": 60 is potentially too dark (the target average pixel value for auto exposure control) - you can try increasing it and see if the image is too dark. Alex

Hi @mtcbj That is the flex stiffener. Our older image modules used stainless steel. Some of our newer modules use laminate. Those holes are likely just flex/FPC air escapes during the backer lamination process. They do not provide any functional purpose after assembly. I see no issue filling them with epoxy. Hope that helps!