Planned configuration:

Drone: Starling 2 Max
Radio: WiFi + ELRS
Kit: Battery Pack + Controller
Camera config: Dual 4K & Dual Tracking & ToF, C29
Possible LiDAR: Livox MID-360
Possible gimbal-camera: SIYI A8 mini or similar MAVLink-controlled gimbal-camera

My questions:

With the C29 configuration, what is the realistic remaining payload margin after battery and standard hardware?
Can Starling 2 Max safely carry a Livox MID-360 + lightweight gimbal-camera + mounts/cables for slow indoor flight and stable hover?
Do you recommend Livox MID-360 and SIYI A8 mini, or would you suggest a better LiDAR, camera, gimbal, expansion hub, or mounting setup?
Should the built-in Starling cameras remain fixed for VIO/navigation, while a separate gimbal-camera is added for reconstruction capture?
Can Starling 2 Max support programmable gimbal pitch control, including forward-facing to straight-down/nadir viewing?
Can gimbal angle, camera frames, IMU, VIO/pose, and LiDAR data be logged with usable timestamps for offline processing?
Are there recommended mounting locations or safety accessories, such as prop guards, that avoid blocking VIO cameras, LiDAR FOV, or the nadir camera view?
Are there ModalAI-supported examples or ROS 2 workflows for LiDAR integration, gimbal control, synchronized logging, or autonomous indoor scan paths?

Thanks!