Current Obstacle Avoidance Options for Starling 2

[QSL]

system-image: 1.8.04-M0054-14.1a-perf
kernel: #1 SMP PREEMPT Mon Mar 24 22:31:58 UTC 2025 4.19.125
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hw platform: M0054
mach.var: 1.0.1
SKU: MRB-D0014-4-V1-C26-T7-M13-X0
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voxl-suite: 1.5.0

We are trying to understand the options and proper setup paths for enablign Obstacle Avoidance on our Starling 2. I feel like there is some confusion from old documentation and online resources that have us chasing our tails.

Questions:

1. Out the box can we utilize the sensors and their configurations for obstacle avoidance forward facing Tracking and TOF, as well as downward facing with its 2nd Tracking Camera?
   a. It seems to want Stereo Tracking Cameras and will not let us initialize VOA

2. Is there any documentation for the enabling of Obstacle Avoidance feature as it is advertised as in the included software?

Thanks for any help!