# How to do SLAM and VOXL-Mapper flying with Starling Drone ? Source: https://forum.modalai.com/topic/3304/how-to-do-slam-and-voxl-mapper-flying-with-starling-drone Category: Development Drones (https://forum.modalai.com/category/44/development-drones) Tags: starling Posted: 2024-04-09 08:48:19 UTC by david devassy Replies: 12 · Views: 3053 ## david devassy · 2024-04-09 08:48:19 UTC Hi, We have recently purchased Starling Autonomy Drone. We are Facing following Issue: 1. No Proper Guide on How to fly the drone Using VOXL Mapper(in Modal AI VOXL Web Portal) 2. How to do Slamming and Obstacle avoidance Flying? Please Guide us on How to use your Web portal to Fly it inside a room using Mapper. ## Reply by david devassy · 2024-04-09 09:54:22 UTC We have installed voxl-Mapper and started the services, changed offboard mode to trajectory also. When we tell it to go to one location its moving also. But no point cloud map is been generated inside Mapper at Voxl Web portal. Please assist.!![Screenshot (1).png](https://forum.modalai.com/assets/uploads/files/1712656459531-screenshot-1.png) ## Reply by Eric Katzfey (ModalAI staff) · 2024-04-09 14:37:58 UTC (in reply to david devassy) @david-devassy Have you been following the documentation here: https://docs.modalai.com/voxl-mapper/#voxl-mapper? ## Reply by david devassy · 2024-04-10 04:53:22 UTC (in reply to Eric Katzfey) @Eric-Katzfey . Yes, we have followed the same only. i think my TOF sensor is not activated. we are not getting any data of TOF sensors on the VOXL Webportal. Can you Guide me on How to activate it. following attached images are the data regarding drone.![Screenshot (2).png](https://forum.modalai.com/assets/uploads/files/1712724797341-screenshot-2.png) ![Screenshot (3).png](https://forum.modalai.com/assets/uploads/files/1712724797450-screenshot-3.png) ![Screenshot (4).png](https://forum.modalai.com/assets/uploads/files/1712724797561-screenshot-4.png) ![Screenshot (5).png](https://forum.modalai.com/assets/uploads/files/1712724797684-screenshot-5.png) ## Reply by tom (ModalAI staff) · 2024-04-10 19:31:20 UTC (in reply to david devassy) @david-devassy Did you run through `voxl-configure-sku -w` and `voxl-configure-mpa` in order to enable / run all of the relevant services? ## Reply by david devassy · 2024-04-12 04:08:41 UTC (in reply to tom) @tom ------------------------------------------------------------------ Welcome to the voxl-configure-sku Wizard! VOXL currently thinks it is in the following hardware: family code: MRB-D0005 (starling) compute board: 4 (voxl2) hw version: 3 cam config: 6 SKU: MRB-D0005-4-V3-C6 If this is what you want, select 1 (accept and continue) to leave it as-is. Otherwise, select the desired product family: 1) accept and continue 10) seeker 2) starling 11) rb5-flight 3) sentinel 12) flight-deck 4) fpv 13) voxl-deck 5) D0010 14) voxl2-flight-deck 6) px4-autonomy-dev-kit 15) voxl2-test-fixture 7) stinger 16) voxl2-mini-test-fixture 8) m500 17) voxl2-board-only 9) voxlcam 18) voxl2-mini-board-only #? 2 selected starling ------------------------------------------------------------------ MRB-D0005 Starling currently has two versions in circulation. Version 2 with silver motors (pre December 2023) Version 3 with black motors (December 2023 onward) Please select the appropriate one. 1) quit 2) 2 3) 3 #? 3 ------------------------------------------------------------------ If you would like to select a special camera config that differs from the default for your product family, please select an option. Simply hit ENTER to use the default 01 - ov7251 tracking ov7251 stereo 02 - ov7251 tracking 03 - ov7251 tracking ov7251 stereo imx214 hires 04 - ov7251 tracking imx214 hires 05 - pmd-tof ov7251 tracking 06 - D0005 Starling pmd-tof imx214 hires ov7251 tracking 08 - imx214 09 - pmd-tof 10 - ov7251 stereo 11 - D0006 Sentinel 12 - ov9782 stereo 13 - ov9782 stereo imx214 hires 14 - ov9782 stereo pmd-tof ov7251 tracking (copy) 15 - D0008 dual 9782 tracking 16 - pmd-tof ov7251 dual tracking imx214 hires 17 - D0010 pmd-tof imx412 hires ov7251 tracking ov9782 stereo 18 - D0008 triple ov9782 19 - D0005 without tof imx214 hires ov7251 tracking 20 - D0011 imx412 hires ar0144 tracking 21 - old C6 22 - D0013 imx412 flipped ov7251 23 - D0010 without stereo C - use user-defined custom camera config in (/data/modalai/custom_camera_config.txt) q - Quit The Wizard The default camera config for Starling is 6 (hires+TOF+tracking) Simply hit ENTER to use the default selection: Selecting default camera config ------------------------------------------------------------------ Your answers would construct the following SKU: family code: MRB-D0005 (starling) compute board: 4 (voxl2) hw version: 3 cam config: 6 SKU: MRB-D0005-4-V3-C6 This sku will be saved to persistent memory so VOXL will remember what it is installed in, even between system image flashes. Press enter to accept and continue. If something is wrong press ctrl-C to quit and try again. DONE, MRB-D0005-4-V3-C6 has been written to /data/modalai/sku.txt Next you will likely want to run voxl-configure-mpa ------------------------------------------------------------------ voxl2:/$ voxl-configure-mpa ------------------------------------------------------------------ Welcome to voxl-configure-mpa! VOXL is currently thinks it is in the following hardware: family code: MRB-D0005 (starling) compute board: 4 (voxl2) hw version: 3 cam config: 6 SKU: MRB-D0005-4-V3-C6 If this doesn't look right, quit and run voxl-configure-sku to set it correctly. Then run voxl-configure-mpa again. Continue? y/n: y Continuing About to Execute: voxl-configure-extrinsics starling_v2_voxl2 voxl-configure-cameras 6 voxl-configure-cpu-monitor factory_enable voxl-configure-qvio factory_enable_imu_apps voxl-configure-open-vins disable voxl-configure-dfs factory_disable voxl-configure-tag-detector factory_disable voxl-configure-tflite factory_disable voxl-configure-vision-hub factory_enable voxl-configure-mavlink-server factory_enable voxl-configure-portal enable voxl-configure-lepton disable voxl-configure-uvc disable voxl-configure-streamer factory_enable voxl-configure-modem disable voxl-configure-mavcam factory_enable voxl-configure-rangefinders disable voxl-configure-px4-imu-server factory_disable voxl-configure-imu factory_enable voxl-configure-flow-server disable voxl-configure-feature-tracker disable systemctl stop voxl-px4 systemctl disable voxl-px4 sleep 3 voxl-esc setup_starling_black_motors voxl-elrs --scan systemctl stop voxl-px4 rm -f /data/px4/param/parameters voxl-configure-px4 starling_v2 systemctl stop voxl-mavlink-server sleep 1 voxl-configure-px4-params --non-interactive --platform MRB-D0005-V2 enabling voxl-wait-for-fs service executing: voxl-configure-extrinsics starling_v2_voxl2 wiping old extrinsics config file copying /usr/share/modalai/extrinsic_configs/starling_v2_voxl2.conf to /etc/modalai/extrinsics.conf loading and updating file with voxl-inspect-extrinsics -q done configuring extrinsics Success! executing: voxl-configure-cameras 6 Camera Configuration: 6 camera server config helper list: tof:pmd-tof:0: hires:imx214:1: tracking:ov7251:2: driver binary list: /usr/share/modalai/chi-cdk/irs1645/com.qti.sensormodule.irs1645_0.bin /usr/share/modalai/chi-cdk/imx214/com.qti.sensormodule.imx214_2.bin /usr/share/modalai/chi-cdk/ov7251/com.qti.sensormodule.ov7251_3.bin calling camera-server-config-helper tof:pmd-tof:0: hires:imx214:1: tracking:ov7251:2: detected system image 1.7.4 using new imx214 defaults successfully wrote this camera config to disk: ================================================================= configuration for 3 cameras: cam #0 name: tof sensor type: pmd-tof isEnabled: 1 camId: 0 camId2: -1 fps: 5 en_rotate: 0 en_rotate2: 0 en_preview: 1 pre_width: 224 pre_height: 1557 en_raw_preview: 1 en_small_video: 0 small_video_width: -1 small_video_height: -1 en_large_video: 0 large_video_width: -1 large_video_height: -1 en_snapshot: 0 snap_width: -1 snap_height: -1 ae_mode: off standby_enabled: 0 decimator: 5 independent_exposure:0 cam #1 name: hires sensor type: imx214 isEnabled: 1 camId: 1 camId2: -1 fps: 30 en_rotate: 0 en_rotate2: 0 en_preview: 0 pre_width: 640 pre_height: 480 en_raw_preview: 0 en_small_video: 1 small_video_width: 1024 small_video_height: 768 en_large_video: 1 large_video_width: 4208 large_video_height: 3120 en_snapshot: 1 snap_width: 4208 snap_height: 3120 ae_mode: isp standby_enabled: 0 decimator: 1 independent_exposure:0 cam #2 name: tracking sensor type: ov7251 isEnabled: 1 camId: 2 camId2: -1 fps: 30 en_rotate: 0 en_rotate2: 0 en_preview: 1 pre_width: 640 pre_height: 480 en_raw_preview: 1 en_small_video: 0 small_video_width: -1 small_video_height: -1 en_large_video: 0 large_video_width: -1 large_video_height: -1 en_snapshot: 0 snap_width: -1 snap_height: -1 ae_mode: lme_msv standby_enabled: 0 decimator: 1 independent_exposure:0 ================================================================= camera_server_config_helper is done copying required camera drivers in place /usr/share/modalai/chi-cdk/irs1645/com.qti.sensormodule.irs1645_0.bin /usr/share/modalai/chi-cdk/imx214/com.qti.sensormodule.imx214_2.bin /usr/share/modalai/chi-cdk/ov7251/com.qti.sensormodule.ov7251_3.bin enabling voxl-camera-server ------------------------------------------------------------------ Done Configuring Cameras Please power cycle VOXL to load new drivers camera server will start on next reboot ------------------------------------------------------------------ Success! executing: voxl-configure-cpu-monitor factory_enable wiping old config file Creating new config file: /etc/modalai/voxl-cpu-monitor.conf enabling voxl-cpu-monitor systemd service Done configuring voxl-cpu-monitor Success! executing: voxl-configure-qvio factory_enable_imu_apps wiping old config file loading config file Creating new config file: /etc/modalai/voxl-qvio-server.conf enabling voxl-qvio-server systemd service Done configuring voxl-qvio-server Success! executing: voxl-configure-open-vins disable disabling voxl-open-vins-server systemd service stopping voxl-open-vins-server systemd service Done configuring voxl-open-vins-server Success! executing: voxl-configure-dfs factory_disable wiping old config file Creating new config file: /etc/modalai/voxl-dfs-server.conf disabling voxl-dfs-server systemd service Removed /etc/systemd/system/multi-user.target.wants/voxl-dfs-server.service. stopping voxl-dfs-server systemd service Done configuring voxl-dfs-server Success! executing: voxl-configure-tag-detector factory_disable wiping old config file Creating new config file: /etc/modalai/voxl-tag-detector.conf disabling voxl-tag-detector systemd service stopping voxl-tag-detector systemd service Done configuring voxl-tag-detector Success! executing: voxl-configure-tflite factory_disable wiping old config file Creating new config file: /etc/modalai/voxl-tflite-server.conf The config file was modified during parsing, saving the changes to disk disabling voxl-tflite-server systemd service Removed /etc/systemd/system/multi-user.target.wants/voxl-tflite-server.service. stopping voxl-tflite-server systemd service Done configuring voxl-tflite-server Success! executing: voxl-configure-vision-hub factory_enable wiping old config file Created new json file: /etc/modalai/voxl-vision-hub.conf The JSON config file data was modified during parsing, saving the changes to disk enabling voxl-vision-hub systemd service Done configuring voxl-vision-hub service will start on next reboot Success! executing: voxl-configure-mavlink-server factory_enable wiping old config file Created new json file: /etc/modalai/voxl-mavlink-server.conf enabling voxl-mavlink-server systemd service Done configuring voxl-mavlink-server Success! executing: voxl-configure-portal enable enabling voxl-portal systemd service Done configuring voxl-portal Success! executing: voxl-configure-lepton disable disabling voxl-lepton-server systemd service stopping voxl-lepton-server systemd service Done configuring voxl-lepton-server Success! executing: voxl-configure-uvc disable disabling voxl-uvc-server systemd service stopping voxl-uvc-server systemd service Done configuring voxl-uvc-server Success! executing: voxl-configure-streamer factory_enable wiping old config file Creating new config file: /etc/modalai/voxl-streamer.conf writing /etc/modalai/voxl-streamer.conf to disk parsed config file enabling voxl-streamer systemd service Done configuring voxl-streamer, it will start on next reboot Success! executing: voxl-configure-modem disable disabling voxl-modem systemd service stopping voxl-modem systemd service Done configuring voxl-modem Success! executing: voxl-configure-mavcam factory_enable Creating new config file: /etc/modalai/voxl-mavcam-manager.conf writing /etc/modalai/voxl-mavcam-manager.conf to disk enabling voxl-mavcam-manager systemd service Done configuring voxl-mavcam-manager It will start automatically on the next reboot Success! executing: voxl-configure-rangefinders disable disabling voxl-rangefinder-server systemd service Removed /etc/systemd/system/multi-user.target.wants/voxl-rangefinder-server.service. stopping voxl-rangefinder-server systemd service Done configuring voxl-rangefinder-server Success! executing: voxl-configure-px4-imu-server factory_disable disabling voxl-px4-imu-server systemd service stopping voxl-px4-imu-server systemd service Done configuring voxl-px4-imu-server Success! executing: voxl-configure-imu factory_enable wiping old config file Creating new config file: /etc/modalai/voxl-imu-server.conf enabling voxl-imu-server systemd service Done configuring voxl-imu-server Success! executing: voxl-configure-flow-server disable disabling voxl-flow-server systemd service stopping voxl-flow-server systemd service Done configuring voxl-flow-server Success! executing: voxl-configure-feature-tracker disable disabling voxl-feature-tracker systemd service stopping voxl-feature-tracker systemd service Done configuring voxl-feature-tracker Success! executing: systemctl stop voxl-px4 Success! executing: systemctl disable voxl-px4 Removed /etc/systemd/system/multi-user.target.wants/voxl-px4.service. Success! executing: sleep 3 Success! executing: voxl-esc setup_starling_black_motors enabling bridge bridge enabled [INFO] Setting CPU to performance mode [INFO] Scanning for ESC... dpkg-query: no packages found matching voxl-esc-board-detect.py dpkg-query: no packages found matching voxl-esc-calibrate.py dpkg-query: no packages found matching voxl-esc-led.py dpkg-query: no packages found matching voxl-esc-neopixel-test.py dpkg-query: no packages found matching voxl-esc-scan.py dpkg-query: no packages found matching voxl-esc-spin-helper.sh dpkg-query: no packages found matching voxl-esc-spin-sine.py dpkg-query: no packages found matching voxl-esc-spin-step.py dpkg-query: no packages found matching voxl-esc-spin.py dpkg-query: no packages found matching voxl-esc-tools-bin dpkg-query: no packages found matching voxl-esc-upload-firmware-all.sh dpkg-query: no packages found matching voxl-esc-upload-firmware.py dpkg-query: no packages found matching voxl-esc-upload-params.py dpkg-query: no packages found matching voxl-esc-verify-params.py dpkg-query: no packages found matching voxl_esc_setup_paths.py dpkg-query: no packages found matching voxl_serial.py [INFO] M0134-1 detected [INFO] has for most recent firmware: eb6fb500 [INFO] Expected ESC firmware info: Firmware: modalai_esc_firmware_m0134_1_v0_39_RC10_eb6fb500.bin Firmware hash: eb6fb500 [INFO] Number of ESCs with correct FW: 4 [INFO] All of the ESCs have the correct firmware loaded uploading params file ../voxl-esc-params/starling_1504_3000kv/starling_1504_3000kv.xml Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00) [GCC 8.4.0] dpkg-query: no packages found matching voxl-esc-board-detect.py dpkg-query: no packages found matching voxl-esc-calibrate.py dpkg-query: no packages found matching voxl-esc-led.py dpkg-query: no packages found matching voxl-esc-neopixel-test.py dpkg-query: no packages found matching voxl-esc-scan.py dpkg-query: no packages found matching voxl-esc-spin-helper.sh dpkg-query: no packages found matching voxl-esc-spin-sine.py dpkg-query: no packages found matching voxl-esc-spin-step.py dpkg-query: no packages found matching voxl-esc-spin.py dpkg-query: no packages found matching voxl-esc-tools-bin dpkg-query: no packages found matching voxl-esc-upload-firmware-all.sh dpkg-query: no packages found matching voxl-esc-upload-firmware.py dpkg-query: no packages found matching voxl-esc-upload-params.py dpkg-query: no packages found matching voxl-esc-verify-params.py dpkg-query: no packages found matching voxl_esc_setup_paths.py dpkg-query: no packages found matching voxl_serial.py Found voxl-esc tools bin version: 1.6 VOXL Platform: M0054 Detected RB5 Flight, VOXL2 M0054 or M0104! INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 2000000 Sending library name request: libslpi_qrb5165_io.so Sending initialization request INFO: ESC(s) detected on port: /dev/slpi-uart-2, baud rate: 2000000, protocol: firmware INFO: ESC Information: INFO: --------------------- ID : 0 Board : version 37: ModalAi 4-in-1 ESC (M0134-1) UID : 0x2033303852465719003E0056 Firmware : version 39, hash eb6fb500 Bootloader : version 183, hash b4fa2cf8 ID : 1 Board : version 37: ModalAi 4-in-1 ESC (M0134-1) UID : 0x20333038524657190026004F Firmware : version 39, hash eb6fb500 Bootloader : version 183, hash b4fa2cf8 ID : 2 Board : version 37: ModalAi 4-in-1 ESC (M0134-1) UID : 0x203330385246571900260049 Firmware : version 39, hash eb6fb500 Bootloader : version 183, hash b4fa2cf8 ID : 3 Board : version 37: ModalAi 4-in-1 ESC (M0134-1) UID : 0x2033303852465718001C002B Firmware : version 39, hash eb6fb500 Bootloader : version 183, hash b4fa2cf8 --------------------- successfully pinged ESCs Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00) [GCC 8.4.0] dpkg-query: no packages found matching voxl-esc-board-detect.py dpkg-query: no packages found matching voxl-esc-calibrate.py dpkg-query: no packages found matching voxl-esc-led.py dpkg-query: no packages found matching voxl-esc-neopixel-test.py dpkg-query: no packages found matching voxl-esc-scan.py dpkg-query: no packages found matching voxl-esc-spin-helper.sh dpkg-query: no packages found matching voxl-esc-spin-sine.py dpkg-query: no packages found matching voxl-esc-spin-step.py dpkg-query: no packages found matching voxl-esc-spin.py dpkg-query: no packages found matching voxl-esc-tools-bin dpkg-query: no packages found matching voxl-esc-upload-firmware-all.sh dpkg-query: no packages found matching voxl-esc-upload-firmware.py dpkg-query: no packages found matching voxl-esc-upload-params.py dpkg-query: no packages found matching voxl-esc-verify-params.py dpkg-query: no packages found matching voxl_esc_setup_paths.py dpkg-query: no packages found matching voxl_serial.py Found voxl-esc tools bin version: 1.6 INFO: Params file name : ../voxl-esc-params/starling_1504_3000kv/starling_1504_3000kv.xml INFO: Params file size : 7602 bytes STILL SAME. WE THINK OUR TOF UNIT IS NOT WORKING. ITS DEAD ON ARRIVAL. ## Reply by david devassy · 2024-04-12 04:13:17 UTC (in reply to tom) @tom VOXL Platform: M0054 Detected RB5 Flight, VOXL2 M0054 or M0104! INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 2000000 Sending library name request: libslpi_qrb5165_io.so Sending initialization request INFO: ESC(s) detected on port: /dev/slpi-uart-2, baud rate: 2000000 INFO: ESCs detected: INFO: --------------------- ID: 0, SW: 39, HW: 37: ModalAi 4-in-1 ESC (M0134-1) ID: 1, SW: 39, HW: 37: ModalAi 4-in-1 ESC (M0134-1) ID: 2, SW: 39, HW: 37: ModalAi 4-in-1 ESC (M0134-1) ID: 3, SW: 39, HW: 37: ModalAi 4-in-1 ESC (M0134-1) --------------------- INFO: Loading XML config file... INFO: Uploading params for ESC ID 255... -- board config -- id config -- uart config -- tune config DONE INFO: Resetting ESCs... DONE WARNING: Received 12 bytes of data from SLPI while SLPI uart not in use (topic uart_data) disabling bridge bridge disabled Success! executing: voxl-elrs --scan [ERROR] Error reading device information. [ERROR] Ensure that transmitter is turned off and receiver is not in bootloader mode. first try failed, executing a second time: voxl-elrs --scan [ERROR] Error reading device information. [ERROR] Ensure that transmitter is turned off and receiver is not in bootloader mode. FAILED TO EXECUTE: voxl-elrs --scan executing: systemctl stop voxl-px4 Success! executing: rm -f /data/px4/param/parameters Success! executing: voxl-configure-px4 starling_v2 wiping old config file enabling voxl-px4 systemd service Created symlink /etc/systemd/system/multi-user.target.wants/voxl-px4.service → /etc/systemd/system/voxl-px4.service. Done configuring voxl-px4 Success! executing: systemctl stop voxl-mavlink-server Success! executing: sleep 1 Success! executing: voxl-configure-px4-params --non-interactive --platform MRB-D0005-V2 [INFO] Voxl-px4 not currently running. [INFO] Starting voxl-px4 service... [INFO] Voxl-px4 started successfully! [INFO] Loading the following param files: platforms/Starling_V2.params, EKF2_helpers/indoor_vio.params, radio_helpers/Commando_8.params. [INFO] Loading file: /usr/share/modalai/px4_params/v1.14/platforms/Starling_V2.params [INFO] Scanning currently loaded parameters... The following parameters about to be loaded differ from those currently loaded: NAME CURRENT NEW [1] CBRK_IO_SAFETY N/A 22027 [2] COM_CPU_MAX 0.0 -1.0 [3] COM_OF_LOSS_T N/A 3.0 [4] NAV_ACC_RAD N/A 2.0 [5] GPS_UBX_DYNMODEL N/A 6 [6] RTL_RETURN_ALT N/A 30 [7] RTL_DESCEND_ALT N/A 10 [8] SENS_BOARD_ROT N/A 0 [9] BAT1_N_CELLS N/A 2 [10] BAT1_R_INTERNAL N/A 0.025 [11] BAT1_CAPACITY N/A 2900 [12] BAT1_V_CHARGED N/A 4.1 [13] BAT1_V_EMPTY N/A 3.2 [14] BAT_LOW_THR N/A 0.15 [15] BAT_CRIT_THR N/A 0.10 [16] BAT_EMERGEN_THR N/A 0.05 [17] MPC_THR_HOVER 0.42 0.34 [18] THR_MDL_FAC N/A 0.9 [19] VOXL_ESC_RPM_MAX 10500.0 15000.0 [20] VOXL_ESC_RPM_MIN 1000.0 3000.0 [21] VOXL_ESC_FUNC2 103.0 104.0 [22] VOXL_ESC_FUNC3 104.0 102.0 [23] VOXL_ESC_FUNC4 102.0 103.0 [24] VOXL_ESC_T_COSP N/A 0.990000009536743164 [25] VOXL_ESC_T_DEAD N/A 20 [26] VOXL_ESC_T_EXPO N/A 35 [27] VOXL_ESC_T_MINF N/A 0.150000005960464478 [28] VOXL_ESC_T_PERC N/A 90 [29] VOXL_ESC_VLOG N/A 1 [30] MC_BAT_SCALE_EN N/A 0 [31] EKF2_IMU_POS_X 0.027 0.0157 [32] EKF2_IMU_POS_Y 0.009 0.0078 [33] EKF2_IMU_POS_Z -0.019 -0.018 [34] EKF2_EV_POS_X N/A 0.0 [35] EKF2_EV_POS_Y N/A 0.0 [36] EKF2_EV_POS_Z N/A 0.0 [37] CA_ROTOR0_PX 0.15 0.085 [38] CA_ROTOR0_PY 0.15 0.0625 [39] CA_ROTOR1_PX -0.15 -0.085 [40] CA_ROTOR1_PY -0.15 -0.0625 [41] CA_ROTOR2_PX 0.15 0.085 [42] CA_ROTOR2_PY -0.15 -0.0625 [43] CA_ROTOR3_PX -0.15 -0.085 [44] CA_ROTOR3_PY 0.15 0.0625 [45] CA_ROTOR0_AX N/A 0.0 [46] CA_ROTOR0_AY N/A 0.0 [47] CA_ROTOR1_AX N/A 0.0 [48] CA_ROTOR1_AY N/A 0.0 [49] CA_ROTOR2_AX N/A 0.0 [50] CA_ROTOR2_AY N/A 0.0 [51] CA_ROTOR3_AX N/A 0.0 [52] CA_ROTOR3_AY N/A 0.0 [53] CA_ROTOR0_KM N/A 0.05 [54] CA_ROTOR1_KM N/A 0.05 [55] MOT_SLEW_MAX N/A 0.0 [56] IMU_DGYRO_CUTOFF N/A 60.0 [57] IMU_ACCEL_CUTOFF N/A 80.0 [58] IMU_GYRO_CUTOFF N/A 80.0 [59] IMU_GYRO_DNF_EN N/A 1 [60] IMU_GYRO_DNF_HMC N/A 3 [61] IMU_GYRO_DNF_BW N/A 15 [62] MC_PITCH_P 5.5 16.0 [63] MC_PITCHRATE_P 0.08 0.12 [64] MC_PITCHRATE_I 0.2 0.05 [65] MC_PITCHRATE_D 0.0013 0.0015 [66] MC_PITCH_CUTOFF N/A 150.0 [67] MC_ROLL_P 5.5 16.0 [68] MC_ROLLRATE_P 0.08 0.09 [69] MC_ROLLRATE_I 0.2 0.05 [70] MC_ROLLRATE_D 0.0013 0.0015 [71] MC_ROLL_CUTOFF N/A 150.0 [72] MC_YAW_P 2.0 2.8 [73] MC_YAWRATE_I 0.1 0.5 [74] MC_YAW_CUTOFF N/A 150.0 [75] MC_ROLLRATE_MAX N/A 130.0 [76] MC_PITCHRATE_MAX N/A 130.0 [77] MC_YAWRATE_MAX N/A 150.0 [78] MPC_POS_MODE 0.0 4.0 [79] MPC_YAW_EXPO 0.2 0.3 [80] MPC_XY_MAN_EXPO 0.2 0.45 [81] MPC_Z_MAN_EXPO 0.2 0.1 [82] MPC_ACC_HOR N/A 3.0 [83] MPC_JERK_MAX N/A 40.0 [84] MPC_TILTMAX_AIR N/A 30.0 [85] MPC_ACC_HOR_MAX N/A 1000.0 [86] MPC_ACC_UP_MAX N/A 3.0 [87] MPC_ACC_DOWN_MAX N/A 3.0 [88] MPC_VEL_MANUAL 5.0 3.0 [89] MPC_XY_VEL_MAX 5.0 3.0 [90] MPC_XY_CRUISE 5.0 3.0 [91] MPC_Z_VEL_MAX_DN 1.5 1.0 [92] MPC_Z_VEL_MAX_UP 4.0 1.0 [93] MPC_HOLD_MAX_XY N/A 0.0 [94] MPC_HOLD_MAX_Z N/A 0.0 [95] MPC_THR_MAX 0.75 0.7 [96] MPC_MANTHR_MIN 0.05 0.08 [97] MPC_XY_P 0.95 3.5 [98] MPC_Z_P 1.0 5.0 [99] MPC_TKO_RAMP_T 1.5 1.0 [100] COM_SPOOLUP_TIME N/A 2.0 [101] LNDMC_ROT_MAX N/A 30.0 [102] LNDMC_TRIG_TIME N/A 0.5 [103] COM_DISARM_LAND N/A 0.1 [104] COM_DISARM_PRFLT -1.0 20.0 [INFO] Setting params... [ERROR] Failed to set PX4 parameters. Check voxl-px4 status for details. first try failed, executing a second time: voxl-configure-px4-params --non-interactive --platform MRB-D0005-V2 [INFO] Voxl-px4 service found and active. [INFO] Loading the following param files: platforms/Starling_V2.params, EKF2_helpers/indoor_vio.params, radio_helpers/Commando_8.params. [INFO] Loading file: /usr/share/modalai/px4_params/v1.14/platforms/Starling_V2.params [INFO] Scanning currently loaded parameters... The following parameters about to be loaded differ from those currently loaded: NAME CURRENT NEW [1] CBRK_IO_SAFETY N/A 22027 [2] CBRK_SUPPLY_CHK N/A 894281 [3] COM_CPU_MAX N/A -1 [4] COM_OF_LOSS_T N/A 3.0 [5] NAV_ACC_RAD N/A 2.0 [6] GPS_UBX_DYNMODEL N/A 6 [7] RTL_RETURN_ALT N/A 30 [8] RTL_DESCEND_ALT N/A 10 [9] IMU_GYRO_RATEMAX N/A 800 [10] SYS_AUTOSTART N/A 4001 [11] MAV_TYPE N/A 2 [12] SENS_BOARD_ROT N/A 0 [13] BAT1_N_CELLS N/A 2 [14] BAT1_R_INTERNAL N/A 0.025 [15] BAT1_CAPACITY N/A 2900 [16] BAT1_V_CHARGED N/A 4.1 [17] BAT1_V_EMPTY N/A 3.2 [18] BAT_LOW_THR N/A 0.15 [19] BAT_CRIT_THR N/A 0.10 [20] BAT_EMERGEN_THR N/A 0.05 [21] MPC_THR_HOVER N/A 0.34 [22] THR_MDL_FAC N/A 0.9 [23] VOXL_ESC_FUNC1 N/A 101 [24] VOXL_ESC_FUNC2 103.0 104.0 [25] VOXL_ESC_FUNC3 104.0 102.0 [26] VOXL_ESC_FUNC4 102.0 103.0 [27] VOXL_ESC_SDIR1 N/A 0 [28] VOXL_ESC_SDIR2 N/A 0 [29] VOXL_ESC_SDIR3 N/A 0 [30] VOXL_ESC_SDIR4 N/A 0 [31] VOXL_ESC_BAUD N/A 2000000 [32] VOXL_ESC_CONFIG N/A 1 [33] VOXL_ESC_MODE N/A 0 [34] VOXL_ESC_REV N/A 0 [35] CA_AIRFRAME N/A 0 [36] CA_ROTOR_COUNT N/A 4 [37] CA_ROTOR2_KM N/A -0.05 [38] CA_ROTOR3_KM N/A -0.05 [39] MC_AIRMODE N/A 0 [40] MC_PITCHRATE_K N/A 1.0 [41] MC_ROLLRATE_K N/A 1.0 [42] MC_YAWRATE_P N/A 0.15 [43] MC_YAWRATE_D N/A 0.0 [44] MC_YAWRATE_K N/A 1.0 [45] MPC_LAND_SPEED N/A 1.0 [46] MPC_THR_MIN N/A 0.08 [47] MPC_XY_VEL_P_ACC N/A 3.00 [48] MPC_XY_VEL_I_ACC N/A 0.10 [49] MPC_XY_VEL_D_ACC N/A 0.00 [50] MPC_Z_VEL_P_ACC N/A 8.0 [51] MPC_Z_VEL_I_ACC N/A 2.0 [52] MPC_Z_VEL_D_ACC N/A 0.0 [53] MPC_TKO_SPEED N/A 1.50 [INFO] Setting params... [INFO] PX4 parameter configuration successful! [INFO] Loading file: /usr/share/modalai/px4_params/v1.14/EKF2_helpers/indoor_vio.params [INFO] Scanning currently loaded parameters... The following parameters about to be loaded differ from those currently loaded: NAME CURRENT NEW [1] SYS_HAS_MAG N/A 1 [2] SYS_HAS_GPS N/A 1 [3] COM_ARM_WO_GPS N/A 1 [4] EKF2_GPS_CTRL N/A 0 [5] EKF2_MAG_TYPE N/A 5 [6] EKF2_BARO_CTRL N/A 1 [7] EKF2_EV_CTRL N/A 15 [8] EKF2_OF_CTRL N/A 0 [9] EKF2_RNG_CTRL N/A 0 [10] EKF2_HGT_REF N/A 3 [11] EKF2_EV_QMIN N/A 1 [12] EKF2_EV_NOISE_MD N/A 0 [13] EKF2_EVA_NOISE N/A 0.1 [14] EKF2_EVP_GATE N/A 5.0 [15] EKF2_EVP_NOISE N/A 0.1 [16] EKF2_EVV_GATE N/A 3.0 [17] EKF2_EVV_NOISE N/A 0.1 [18] EKF2_EV_DELAY N/A 0.00 [INFO] Setting params... [INFO] PX4 parameter configuration successful! [INFO] Loading file: /usr/share/modalai/px4_params/v1.14/radio_helpers/Commando_8.params [INFO] Scanning currently loaded parameters... The following parameters about to be loaded differ from those currently loaded: NAME CURRENT NEW [1] RC_CHAN_CNT N/A 16 [2] RC_MAP_KILL_SW N/A 5 [3] RC_MAP_FLTMODE N/A 6 [4] COM_FLTMODE1 N/A 0 [5] COM_FLTMODE2 N/A -1 [6] COM_FLTMODE3 N/A -1 [7] COM_FLTMODE4 N/A 2 [8] COM_FLTMODE5 N/A -1 [9] COM_FLTMODE6 N/A 7 [10] RC1_DZ N/A 10.000000000000000000 [11] RC1_MAX N/A 2000.000000000000000000 [12] RC1_MIN N/A 1000.000000000000000000 [13] RC1_REV N/A 1.000000000000000000 [14] RC1_TRIM N/A 1500.000000000000000000 [15] RC2_DZ N/A 10.000000000000000000 [16] RC2_MAX N/A 2000.000000000000000000 [17] RC2_MIN N/A 1000.000000000000000000 [18] RC2_REV N/A 1.000000000000000000 [19] RC2_TRIM N/A 1500.000000000000000000 [20] RC3_DZ N/A 10.000000000000000000 [21] RC3_MAX N/A 2000.000000000000000000 [22] RC3_MIN N/A 1000.000000000000000000 [23] RC3_REV N/A 1.000000000000000000 [24] RC3_TRIM N/A 1500.000000000000000000 [25] RC4_DZ N/A 10.000000000000000000 [26] RC4_MAX N/A 2000.000000000000000000 [27] RC4_MIN N/A 1000.000000000000000000 [28] RC4_REV N/A 1.000000000000000000 [29] RC4_TRIM N/A 1500.000000000000000000 [30] RC5_DZ N/A 10.000000000000000000 [31] RC5_MAX N/A 1988.000000000000000000 [32] RC5_MIN N/A 1011.000000000000000000 [33] RC5_REV N/A 1.000000000000000000 [34] RC5_TRIM N/A 1500.000000000000000000 [35] RC6_DZ N/A 10.000000000000000000 [36] RC6_MAX N/A 1988.000000000000000000 [37] RC6_MIN N/A 1011.000000000000000000 [38] RC6_REV N/A 1.000000000000000000 [39] RC6_TRIM N/A 1500.000000000000000000 [40] RC7_DZ N/A 10.000000000000000000 [41] RC7_MAX N/A 1988.000000000000000000 [42] RC7_MIN N/A 1011.000000000000000000 [43] RC7_REV N/A 1.000000000000000000 [44] RC7_TRIM N/A 1500.000000000000000000 [45] RC8_DZ N/A 10.000000000000000000 [46] RC8_MAX N/A 1988.000000000000000000 [47] RC8_MIN N/A 1011.000000000000000000 [48] RC8_REV N/A 1.000000000000000000 [49] RC8_TRIM N/A 1500.000000000000000000 [50] RC9_DZ N/A 0.000000000000000000 [51] RC9_MAX N/A 2000.000000000000000000 [52] RC9_MIN N/A 1000.000000000000000000 [53] RC9_REV N/A 1.000000000000000000 [54] RC9_TRIM N/A 1500.000000000000000000 [55] RC10_DZ N/A 0.000000000000000000 [56] RC10_MAX N/A 2000.000000000000000000 [57] RC10_MIN N/A 1000.000000000000000000 [58] RC10_REV N/A 1.000000000000000000 [59] RC10_TRIM N/A 1500.000000000000000000 [60] RC11_DZ N/A 0.000000000000000000 [61] RC11_MAX N/A 2000.000000000000000000 [62] RC11_MIN N/A 1000.000000000000000000 [63] RC11_REV N/A 1.000000000000000000 [64] RC11_TRIM N/A 1500.000000000000000000 [65] RC12_DZ N/A 0.000000000000000000 [66] RC12_MAX N/A 1988.000000000000000000 [67] RC12_MIN N/A 1011.000000000000000000 [68] RC12_REV N/A 1.000000000000000000 [69] RC12_TRIM N/A 1499.000000000000000000 [70] RC13_DZ N/A 0.000000000000000000 [71] RC13_MAX N/A 2000.000000000000000000 [72] RC13_MIN N/A 1000.000000000000000000 [73] RC13_REV N/A 1.000000000000000000 [74] RC13_TRIM N/A 1500.000000000000000000 [75] RC14_DZ N/A 0.000000000000000000 [76] RC14_MAX N/A 2000.000000000000000000 [77] RC14_MIN N/A 1000.000000000000000000 [78] RC14_REV N/A 1.000000000000000000 [79] RC14_TRIM N/A 1500.000000000000000000 [80] RC15_DZ N/A 0.000000000000000000 [81] RC15_MAX N/A 2000.000000000000000000 [82] RC15_MIN N/A 1000.000000000000000000 [83] RC15_REV N/A 1.000000000000000000 [84] RC15_TRIM N/A 1500.000000000000000000 [85] RC16_DZ N/A 0.000000000000000000 [86] RC16_MAX N/A 2000.000000000000000000 [87] RC16_MIN N/A 1000.000000000000000000 [88] RC16_REV N/A 1.000000000000000000 [89] RC16_TRIM N/A 1500.000000000000000000 [90] RC17_DZ N/A 0.000000000000000000 [91] RC17_MAX N/A 2000.000000000000000000 [92] RC17_MIN N/A 1000.000000000000000000 [93] RC17_REV N/A 1.000000000000000000 [94] RC17_TRIM N/A 1500.000000000000000000 [95] RC18_DZ N/A 0.000000000000000000 [96] RC18_MAX N/A 2000.000000000000000000 [97] RC18_MIN N/A 1000.000000000000000000 [98] RC18_REV N/A 1.000000000000000000 [99] RC18_TRIM N/A 1500.000000000000000000 [100] RC_MAP_ACRO_SW N/A 0 [101] RC_MAP_ARM_SW N/A 0 [102] RC_MAP_AUX1 N/A 0 [103] RC_MAP_AUX2 N/A 0 [104] RC_MAP_AUX3 N/A 0 [105] RC_MAP_AUX4 N/A 0 [106] RC_MAP_AUX5 N/A 0 [107] RC_MAP_AUX6 N/A 0 [108] RC_MAP_FAILSAFE N/A 0 [109] RC_MAP_FLAPS N/A 0 [110] RC_MAP_GEAR_SW N/A 0 [111] RC_MAP_LOITER_SW N/A 0 [112] RC_MAP_MAN_SW N/A 0 [113] RC_MAP_MODE_SW N/A 0 [114] RC_MAP_OFFB_SW N/A 0 [115] RC_MAP_PARAM1 N/A 0 [116] RC_MAP_PARAM2 N/A 0 [117] RC_MAP_PARAM3 N/A 0 [118] RC_MAP_PITCH N/A 2 [119] RC_MAP_POSCTL_SW N/A 0 [120] RC_MAP_RATT_SW N/A 0 [121] RC_MAP_RETURN_SW N/A 0 [122] RC_MAP_ROLL N/A 1 [123] RC_MAP_STAB_SW N/A 0 [124] RC_MAP_THROTTLE N/A 3 [125] RC_MAP_TRANS_SW N/A 0 [126] RC_MAP_YAW N/A 4 [INFO] Setting params... [INFO] PX4 parameter configuration successful! [INFO] Loading file: /data/px4/param/parameters_gyro.cal [INFO] Scanning currently loaded parameters... The following parameters about to be loaded differ from those currently loaded: NAME CURRENT NEW [1] CAL_GYRO0_ID N/A 2490378 [2] CAL_GYRO0_PRIO N/A 50 [3] CAL_GYRO0_XOFF N/A 0.0134728 [4] CAL_GYRO0_YOFF N/A -0.00290391 [5] CAL_GYRO0_ZOFF N/A -0.000202846 [6] CAL_GYRO0_ROT N/A -1 [INFO] Setting params... [INFO] PX4 parameter configuration successful! [INFO] Trimming duplicate parameters... [INFO] Loading file: /data/px4/param/parameters_acc.cal [INFO] Scanning currently loaded parameters... The following parameters about to be loaded differ from those currently loaded: NAME CURRENT NEW [1] CAL_ACC0_ID N/A 2490378 [2] CAL_ACC0_PRIO N/A 50 [3] CAL_ACC0_XOFF N/A 0.016479 [4] CAL_ACC0_YOFF N/A 0.0495152 [5] CAL_ACC0_ZOFF N/A -0.00822353 [6] CAL_ACC0_XSCALE N/A 1 [7] CAL_ACC0_YSCALE N/A 1 [8] CAL_ACC0_ZSCALE N/A 1 [9] CAL_ACC0_ROT N/A -1 [INFO] Setting params... [INFO] PX4 parameter configuration successful! [INFO] Trimming duplicate parameters... [INFO] Loading file: /data/px4/param/parameters_level.cal [INFO] Scanning currently loaded parameters... The following parameters about to be loaded differ from those currently loaded: NAME CURRENT NEW [1] SENS_BOARD_X_OFF N/A 0.0105941 [2] SENS_BOARD_Y_OFF N/A 0.00175017 [INFO] Setting params... [INFO] PX4 parameter configuration successful! [INFO] Trimming duplicate parameters... [INFO] Loading file: /data/px4/param/parameters_mag.cal [INFO] Scanning currently loaded parameters... The following parameters about to be loaded differ from those currently loaded: NAME CURRENT NEW [1] CAL_MAG0_ID N/A 527625 [2] CAL_MAG0_PRIO N/A 75 [3] CAL_MAG0_XOFF N/A -0.284582 [4] CAL_MAG0_YOFF N/A -0.281098 [5] CAL_MAG0_ZOFF N/A 0.219934 [6] CAL_MAG0_XSCALE N/A 1.00463 [7] CAL_MAG0_YSCALE N/A 1.01471 [8] CAL_MAG0_ZSCALE N/A 0.979607 [9] CAL_MAG0_XODIAG N/A -0.0119525 [10] CAL_MAG0_YODIAG N/A 0.0184261 [11] CAL_MAG0_ZODIAG N/A -0.00372516 [12] CAL_MAG0_XCOMP N/A 0 [13] CAL_MAG0_YCOMP N/A 0 [14] CAL_MAG0_ZCOMP N/A 0 [15] CAL_MAG0_ROT N/A 0 [INFO] Setting params... [INFO] PX4 parameter configuration successful! [INFO] Trimming duplicate parameters... [INFO] Loading file: /data/px4/param/parameters_rc.cal [INFO] Trimming duplicate parameters... [INFO] Scanning currently loaded parameters... [INFO] No difference in parameters was detected. [INFO] Done configuring for platform MRB-D0005-V2 Success running a second time ------------------------------------------------------------------ The following steps worked on the second try: voxl-configure-px4-params --non-interactive --platform MRB-D0005-V2 ------------------------------------------------------------------ FAILED TO EXECUTE the following steps: voxl-elrs --scan Encountered Problems Configuring MPA Services :-/ Some Services may not start up on next reboot Calibration File Status: Present /data/modalai/voxl-imu-server.cal Present /data/modalai/opencv_tracking_intrinsics.yml Present /data/px4/param/parameters_gyro.cal Present /data/px4/param/parameters_acc.cal Present /data/px4/param/parameters_level.cal Present /data/px4/param/parameters_mag.cal PLEASE POWER CYCLE YOUR VOXL ------------------------------------------------------------------ ## Reply by tom (ModalAI staff) · 2024-04-12 17:11:25 UTC (in reply to david devassy) @david-devassy What do you see with `voxl-list-pipes` and `systemctl status voxl-camera-server` ## Reply by david devassy · 2024-04-13 04:21:12 UTC (in reply to tom) @tom voxl2:/$ voxl-list-pipes cpu_monitor gcs_ip_list hires_large_color hires_large_encoded hires_large_grey hires_small_color hires_small_encoded hires_small_grey hires_snapshot horizon_cal_io imu_apps imu_apps_fft mavlink_ap_heartbeat mavlink_attitude mavlink_from_gcs mavlink_gps_raw_int mavlink_local_position_ned mavlink_onboard mavlink_sys_status mavlink_to_gcs modal_io_bridge plan_msgs qvio qvio_extended qvio_overlay tracking voa_pc_out voxl_mapper_aligned_ptcloud voxl_mapper_costmap voxl_mesh voxl_mesh_endpoint voxl_planner_render vvhub_body_wrt_fixed vvhub_body_wrt_local vvhub_fixed_pose_input voxl2:/$ systemctl status voxl-camera-server ● voxl-camera-server.service - voxl-camera-server Loaded: loaded (/usr/bin/voxl-camera-server; enabled; vendor preset: enabled) Active: active (running) since Fri 2024-04-12 09:02:25 UTC; 3min 59s ago Main PID: 1404 (voxl-camera-ser) Tasks: 68 (limit: 4915) CGroup: /system.slice/voxl-camera-server.service └─1404 /usr/bin/voxl-camera-server Apr 12 09:02:25 m0054 voxl-camera-server[1404]: gbm_create_device(156): Info: backend name is: msm_drm Apr 12 09:02:25 m0054 voxl-camera-server[1404]: gbm_create_device(156): Info: backend name is: msm_drm Apr 12 09:02:25 m0054 voxl-camera-server[1404]: gbm_create_device(156): Info: backend name is: msm_drm Apr 12 09:02:25 m0054 voxl-camera-server[1404]: gbm_create_device(156): Info: backend name is: msm_drm Apr 12 09:02:25 m0054 voxl-camera-server[1404]: gbm_create_device(156): Info: backend name is: msm_drm Apr 12 09:02:25 m0054 voxl-camera-server[1404]: Starting Camera: tracking (originally id #2) with id offset: 1 Apr 12 09:02:25 m0054 voxl-camera-server[1404]: Using gain limits min: 54 max: 3451 Apr 12 09:02:25 m0054 voxl-camera-server[1404]: setting ov7251 BLC register for cam id 1 Apr 12 09:02:25 m0054 voxl-camera-server[1404]: ------ voxl-camera-server: Started 2 of 3 cameras Apr 12 09:02:25 m0054 voxl-camera-server[1404]: ------ voxl-camera-server: Camera server is now running voxl2:/$ ## Reply by tom (ModalAI staff) · 2024-04-15 16:54:22 UTC (in reply to david devassy) @david-devassy Okay so it does seem like the voxl2 is having an issue communicating with the TOF sensor. Is this a stock, unmodified starling? ## Reply by david devassy · 2024-04-19 07:42:46 UTC (in reply to tom) @tom yes its a new one. stock unmodified. i think TOF module is not working properly. Do you provide any warranty for these.? ## Reply by tom (ModalAI staff) · 2024-04-19 16:44:29 UTC (in reply to david devassy) @david-devassy That's not something I'm in control of but you can look into https://www.modalai.com/pages/rma We do test all sensors and flight test each drone before shipping so the failure would've occurred sometime after ## Reply by david devassy · 2024-04-25 09:51:31 UTC (in reply to tom) @tom I have a new issue Since yesterday, when I turned on the Starling drone, it just sits there. It's not getting armed. When I checked for ADB shell, it's not getting connected, and an error comes up saying no devices found. When I checked the forum, it said it might be bricked due to some file loss. We followed the unbrick tutorial, and after successful flashing of the latest QDL M0054.14.1a-flat-v3, the device is showing up as Qualcomm bulk something. However, ADB still isn't getting connected. Please note that I am unable to enter adb shell and fast boot mode . For unbrick I followed this https://docs.modalai.com/voxl2-unbricking