# Integration of custom visual sensors

Source: https://forum.modalai.com/topic/2764/integration-of-custom-visual-sensors
Category: General Questions (https://forum.modalai.com/category/2/general-questions)
Posted: 2023-10-24 17:46:06 UTC by Felipe
Replies: 2 · Views: 448

## Felipe · 2023-10-24 17:46:06 UTC

Hello,

We recently purchased the Starling development kit and are hoping to integrate some custom visual sensors into it.
The [Image Sensor Hardware Design and Integration Guide](https://docs.modalai.com/image-sensor-design-guide/) in the ModalAI documentation appears to be in-progress or incomplete, so I am unsure if this is feasible.

Let me describe our custom sensors: they have onboard computation and output guidance and navigation data as UART or a Mavlink packet (this is configurable). I understand that the VOXL autopilot supports PX4 flight control. Is it possible to feed the flight control navigational data from on external sensor?

I would greatly appreciate any clarification on the matter.

## Reply by modaltb (ModalAI staff) · 2023-10-25 16:58:39 UTC

@Felipe ,

The Starling has this breakoutboard attached:
https://docs.modalai.com/usb2-type-a-breakout-add-on/

It has an apps proc UART available at `/dev/ttyHS1`
https://docs.modalai.com/usb2-type-a-breakout-add-on/#j5---uarti2cgpio

Perhaps you can use this UART, and voxl-mavlink-server has external FC support:
https://docs.modalai.com/voxl2-external-flight-controller/#voxl-2-connecting-an-external-flight-controller

## Reply by Eric Katzfey (ModalAI staff) · 2023-10-25 17:09:46 UTC

@Felipe What mavlink message(s) would this sensor be sending over the UART?