# Next-gen TOF sensor specs Source: https://forum.modalai.com/topic/2919/next-gen-tof-sensor-specs Category: ESCs, Sensors and Accessories (https://forum.modalai.com/category/15/escs-sensors-and-accessories) Tags: image-sensor Posted: 2023-12-04 19:35:48 UTC by david.moro Replies: 11 · Views: 2834 ## david.moro · 2023-12-04 19:35:48 UTC Hi @Moderator, we are looking to integrate the ToF sensor in one of our drones and we just found out it is EOL. According to the product page, you are working on a replacement. Would you be able to share any details on it? Is it larger/smaller? heavier/lighter? Does it have similar range? Thanks! ## Reply by msberk · 2024-01-11 15:56:15 UTC @Moderator Following up on this, are there any updates on this sensor? We completed a prototype that relies on the last-gen sensor in the fall and this limbo has hung us up on moving forward, or even making additional prototypes due to lack of availability. We're now a couple weeks into 2024 without updates and I'm getting concerned about the fragility of the Modal AI supply chain unless a good roadmap can be provided. ## Reply by Eric Katzfey (ModalAI staff) · 2024-01-11 22:56:23 UTC (in reply to msberk) @msberk We are definitely working hard to announce the replacement. We expect to have a datasheet on the new module available by the end of this week. That should answer your technical questions. ## Reply by msberk · 2024-01-12 15:34:08 UTC (in reply to Eric Katzfey) @Eric-Katzfey Thanks for the update, we are anxiously awaiting the data and even more the release of the replacement sensor! ## Reply by Moderator (ModalAI staff) · 2024-01-14 01:45:42 UTC (in reply to msberk) @msberk First draft of the datasheet is here: https://docs.modalai.com/M0169/ The updated code is on the dev branch of voxl-camera-server, so this module can be made available in beta if you are comfortable building the code yourself ## Reply by msberk · 2024-01-18 21:40:56 UTC (in reply to Moderator) @Moderator Thanks for the update and the datasheet. I have not tried building the code since I don't have a reason to until the module itself becomes available and hopefully the code will be out of beta by then. Is there an updated timeline on when this module and its adapters are likely to hit the store? ## Reply by david.moro · 2024-02-12 19:53:38 UTC (in reply to Moderator) @Moderator, do we have any more specs of this module? Weight, power? Also, is there an ETA for it to be in production? Regards, ## Reply by Alex Kushleyev (ModalAI staff) · 2024-02-13 03:16:06 UTC (in reply to david.moro) @david-moro If you look at this image, https://docs.modalai.com/M0169/#image-of-working-module it shows the TOF sensor (right) and the M0169 adapter (left). The weight of the TOF module is 0.72g and weight of M0169 adapter is 0.93g. This particular combo requires an external power input (4-5V as described here https://docs.modalai.com/M0169/#current-consumption). "External" in this case means additional power source besides the camera connector. The additional power input connects into M0169 via 2-pin JST connector. The worse case power consumption is ~0.9W, which is a lot for such small module. The current draw plot shows a typical 5hz operation at maximum "exposure", which sends out 8 6-ms pulses of 1.0-1.1A (at 3.3V). so that is 1.1A * 3.3V * (5hz * 8 * 0.006s) = 0.87W. If you select 15Hz, the maximum exposure (emitter pulse time) will go down from 6ms to 2ms, so the maximum total power will remain the same. This module would definitely require a heat spreader to operate continuously at this power. However maximum power output (even in auto exposure mode) can be limited to accommodate specific power dissipation capabilities. Additionally, the temperature of the emitter is reported from the TOF sensor. Due to additional complexities that come with this new module (need for external power, which cannot be obtained from the camera connector) and heat management, we are working on the solution that would provide a positive user experience, so hence the delay. I will check on the ETA ## Reply by Moderator (ModalAI staff) · 2024-02-13 03:21:25 UTC you can find the module available in "beta" at https://modalai.com/beta this uses the legacy Panasonic AXT connector and requires external power. We are working on a more elegant solution for VOXL 2 that will just have a flex cable to connect the TOF module to VOXL 2. ## Reply by david.moro · 2024-02-13 17:33:58 UTC (in reply to Moderator) @Moderator , @Alex-Kushleyev , thanks a lot! Please keep us posted! ## Reply by Alex Kushleyev (ModalAI staff) · 2024-02-13 17:45:09 UTC (in reply to david.moro) @david-moro , beta version is available to purchase, as mentioned above. it works with latest `voxl-camera-server` on `dev` branch. Do you need more information about it or are you going to wait for the official release? ## Reply by david.moro · 2024-02-14 13:56:31 UTC (in reply to Alex Kushleyev) @Alex-Kushleyev , I think that is plenty for now. We will order a couple and test them. Thanks a lot!