# Starling 2 - Voxl-dfs-server

Source: https://forum.modalai.com/topic/4170/starling-2-voxl-dfs-server
Category: General Questions (https://forum.modalai.com/category/2/general-questions)
Posted: 2025-02-11 22:11:30 UTC by valvarez
Replies: 6 · Views: 1065

## valvarez · 2025-02-11 22:11:30 UTC

Hello everyone.
I'm configuring a Starling 2, which I can't get to be able to detect obstacles. When I activate the voxl-dfs-server service I see that it is active but not running.
![a70b6d7f-28b6-482f-971f-0582627e6422-imagen.png](https://forum.modalai.com/assets/uploads/files/1739311294593-a70b6d7f-28b6-482f-971f-0582627e6422-imagen.png) 

When I access the service, I see this:
![695d48ea-0f4e-4376-9a96-7667c861f7ea-imagen.png](https://forum.modalai.com/assets/uploads/files/1739311355785-695d48ea-0f4e-4376-9a96-7667c861f7ea-imagen.png) 

When running the voxl-configure-mpa command I get this:
![6417abaf-fc90-431d-948c-93957cdd51ac-imagen.png](https://forum.modalai.com/assets/uploads/files/1739311697853-6417abaf-fc90-431d-948c-93957cdd51ac-imagen.png) 

And the list of available pipes are:
![c86d1aad-0865-4f1b-ab8a-72427e97fc22-imagen.png](https://forum.modalai.com/assets/uploads/files/1739311741331-c86d1aad-0865-4f1b-ab8a-72427e97fc22-imagen.png) 

I understand that the voxl-dfs-server is looking for the stereo_rear and stereo_front cameras, but the Starling does not have them - the ones I understand it has are Tracking_front, rear and down.
How can I change that setting? How can I make Starling 2 avoid obstacles?

Thank you so much

## Reply by valvarez · 2025-02-12 12:49:15 UTC

@valvarez Is there a way to change it manually in code?

## Reply by Eric Katzfey (ModalAI staff) · 2025-02-12 17:22:54 UTC (in reply to valvarez)

@valvarez Starling 2 uses the TOF sensor, not stereo cameras, for depth information.

## Reply by JoeAR_21 · 2025-02-15 01:43:01 UTC (in reply to Eric Katzfey)

@Eric-Katzfey I'm having the same issue on the VOXL Starling, the /etc/modalai/voxl-dfs-server.conf file is set to use the rear and front stereo intrinsics.yml and extrinstics.yml which don't exist due to what you just mentioned. Is there a specific setup/files we should set the voxl-dfs-server.conf to use ?

## Reply by Eric Katzfey (ModalAI staff) · 2025-02-16 16:09:52 UTC (in reply to JoeAR_21)

@JoeAR_21 DFS is Depth from Stereo. Starling 2 does not have stereo cameras so cannot use DFS. Starling 2 uses TOF for depth information instead.

## Reply by JoeAR_21 · 2025-02-17 20:15:17 UTC (in reply to Eric Katzfey)

@Eric-Katzfey Is there an existing service/configuration for collision avoidance on these platforms or do we have to implement our own using the TOF sensor data?

## Reply by Moderator (ModalAI staff) · 2025-02-17 22:03:14 UTC (in reply to JoeAR_21)

@JoeAR_21 voxl-vision-hub handles VOA, not voxl-dfs-server

You can see the tof callback function in voa_manager here: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-vision-hub/-/blob/master/src/voa_manager.c?ref_type=heads#L380