I’m developing a sub-250 g UAV and am trying to determine the lightest practical VOXL 2 / VOXL 2 Mini camera and sensor architecture for the aircraft.

The target payload functions are:

• Daylight RGB video / imaging
• FLIR Boson+ 320 thermal video
• Camera input required for reliable VIO / navigation
• Lowest possible total camera, adapter, cabling, and interposer mass

I am specifically trying to avoid carrying unnecessary stereo, ToF, or additional cameras if they are not required.

Could you recommend the exact minimum hardware stack you would use for this application?

In particular:

1. For reliable VIO, can we use a single tracking camera, or is a stereo pair required/recommended?
2. Which current ModalAI tracking camera/module would give the lowest installed mass?
3. For RGB imaging, what is the lightest currently supported color camera/module that can provide useful daylight video?
4. For a Boson+ 320, is the current recommended connection still:
   Boson → M0201 → coax → M0181 → VOXL 2 J8?
5. Can the Boson, RGB camera, and minimum VIO camera configuration operate simultaneously on one VOXL 2 / VOXL 2 Mini?
6. If yes, could you provide the exact ModalAI part numbers/interposers/cables required and, if available, approximate individual masses?
7. Is there a supported camera configuration close to this, or would it require a custom voxl-camera-server configuration?

The aircraft has a very tight mass budget, so I am trying to establish the absolute minimum viable sensor stack rather than starting from one of the larger development-kit camera configurations.

Thanks,
Yisrael