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@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.

That red light is for the M0184 ELRS receiver. A constant slow blink from the light means it is disconnected. It will turn solid with a connection. Other LED states are documented here.

What i meant was that sometimes, depending on the frame design, the orientation of the cameras may change slightly over time. This can happen as the plastics can change shape due to exposure to heat, sunlight, humidity (depends on the plastics), bumps and crashes, etc. Additionally, there has been some research showing that the camera + lens intrinsics change over time / temperature, especially if the lenses are made of plastic (which is the case in our old OV7251-based fisheye modules, which use plastic lenses - although we have not characterized them vs temperature). It is possible to use stiffer and more stable materials (metals, carbon fiber) to ensure that the sensor mounting remains consistent over time. I hope that answers your questions. Alex

Starling 2 Max is designed for 4S batteries only (two 2S Li-Ion battery packs, which are connected in series inside the vehicle). The Mini ESC, which also acts as a power source for VOXL2 inside the Starling 2 Max, is rated at least for 4S input (depending on the version of the ESC). There are several versions of the Mini ESC to provide the users some flexibility, in particular the voltage of the VOXL2 regulator (5V for VOXL2 and 3.8V for VOXL2 Mini). Since Starling2 Max uses a VOXL2, the ESC part number will be either M0129-5 or M0129-65. An updated (6S) version of the Mini ESC was released after the release of Starling 2 Max (new ESC part numbers: M0129-63, M0129-65). This ESC update extended the supported voltage for the ESC (not for Starling 2 Max) from 4S to 6S. The 4S version of the ESC has been phased out because the 6S version outperforms the original version even at 4S voltages (due to better Mosfets), so the 6S version is an improvement over the original 4S version of the ESC, while being fully backwards compatible. Using the 6S-rated ESC in the 4S-rated Starling 2 Max is completely safe. If you use the Mini ESC outside of the Starling 2 Max, you need to verify the part number / sticker on the ESC before plugging in 6S battery (M0129-63, M0129-65 only) The ESC variants and part numbers are documented here : https://docs.modalai.com/voxl-mini-esc-datasheet/ Alex