ModalAI Forum

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

@alex-kushleyev @ModalAI-Team . Could you guys help me with this? thank you!

@alex-kushleyev Thanks for the response! A control model is a simple MLP (multi-layer perceptron) Input observation space: PX4 odometry topics, ToF depth/Depth estimation model, object detections. Output action space: PX4 offboard commands ( position and yaw for now, but we might extend to velocity/Collective thrust and body rates)

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.

@daniellee This log shows a normal flight happening in altitude hold mode. RC inputs are coming in and motors are spinning. Was there some issue with the flight this log was captured from?

@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

@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

@ApoorvThapliyal : the problem (Error message: "set_position_target_local_ned: coordinate frame 0 unsupported") appeared in QGC after updating VOXL SDK from 1.5.0 to 1.6.3. The error blocked me from being able to use QGC to calibrate or arm the drone. Stopping and restarting voxl-vision-hub solved the problem. For now I'm using voxl-vision-hub as it comes on SDK 1.6.3 (no changes yet) and have not made changes to the .conf file (yet).

@Ben-Linne : Thanks for the excellent instructions. Worked perfectly first shot. betaFPV is back to normal and binds to the radio controller ! Best regards, Hector

@jbiscan21 said in Standoffs part: standoffs You can find them here: https://www.modalai.com/products/starling-2-max-replacement-parts?variant=66893548028208

Hi, I would like to know what wifi module is on the drone. The one mounted on the drone is different than AlfaNetworks? Adam

@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.

@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]

@Aniruddha , we currently do not have an option to order this via our online shop, but you have some other options: email us using contact form and request a custom order of those parts : https://www.modalai.com/pages/contact-us download the CAD model (https://developer.modalai.com/asset) and 3D print the part(s) yourself or order them to be printed. We use MJF material for these parts. Sorry for the inconvenience. We will look into making the spare part ordering process easier. Alex

@Aniruddha On QGC, do the Parameters ever fully load? The reason I am asking is because if the connection to the GCS is not fast enough or strong enough for QGC to fully download the parameters then the other tabs like sensors and actuators in QGC will not appear. Which is why you are having an issue doing the level horizon from QGC. I know that QGC is seeing the video feed meaning you are connected, is the Green bar going across the full length of the fly view bar on QGC?