Hey @ApoorvThapliyal,

Here is the output of the extrinsics:

voxl2:~$ voxl-inspect-extrinsics --all
name: D0014_Starling_2
#0:
parent: imu_apps
child: tracking_front
T_child_wrt_parent: 0.037 0.000 0.001
RPY_parent_to_child: 0.0 90.0 90.0
R_child_to_parent: 0.000 -0.000 1.000
1.000 0.000 -0.000
-0.000 1.000 0.000

#1:
parent: imu_apps
child: tracking_down
T_child_wrt_parent: -0.088 -0.004 0.027
RPY_parent_to_child: 0.0 0.0 180.0
R_child_to_parent: -1.000 -0.000 0.000
0.000 -1.000 -0.000
0.000 0.000 1.000

#2:
parent: imu_apps
child: tracking_rear
T_child_wrt_parent: -0.092 0.016 0.004
RPY_parent_to_child: 0.0 -90.0 -90.0
R_child_to_parent: 0.000 0.000 -1.000
-1.000 0.000 -0.000
0.000 1.000 0.000

#3:
parent: imu_apps
child: hires
T_child_wrt_parent: 0.039 0.000 0.019
RPY_parent_to_child: 0.0 90.0 90.0
R_child_to_parent: 0.000 -0.000 1.000
1.000 0.000 -0.000
-0.000 1.000 0.000

#4:
parent: body
child: imu_apps
T_child_wrt_parent: 0.029 -0.006 -0.016
RPY_parent_to_child: 0.0 0.0 0.0
R_child_to_parent: 1.000 -0.000 0.000
0.000 1.000 -0.000
0.000 0.000 1.000

#5:
parent: body
child: imu_px4
T_child_wrt_parent: 0.004 0.007 -0.016
RPY_parent_to_child: 0.0 0.0 0.0
R_child_to_parent: 1.000 -0.000 0.000
0.000 1.000 -0.000
0.000 0.000 1.000

#6:
parent: imu_apps
child: lepton0_raw
T_child_wrt_parent: -0.085 0.013 0.024
RPY_parent_to_child: 0.0 0.0 90.0
R_child_to_parent: 0.000 -1.000 0.000
1.000 0.000 -0.000
0.000 0.000 1.000

#7:
parent: body
child: tof
T_child_wrt_parent: 0.066 0.009 -0.012
RPY_parent_to_child: 0.0 90.0 180.0
R_child_to_parent: -0.000 -0.000 1.000
0.000 -1.000 -0.000
1.000 0.000 0.000

#8:
parent: body
child: ground
T_child_wrt_parent: 0.000 0.000 0.033
RPY_parent_to_child: 0.0 0.0 0.0
R_child_to_parent: 1.000 -0.000 0.000
0.000 1.000 -0.000
0.000 0.000 1.000

Hello @ApoorvThapliyal,

Is there anything more your teams need to investigate/troubleshoot the issue? Thanks.

Hello ModalAI Team,

My team are interested in purchasing an additional Starling 2 drone. My company, Hitachi America Ltd., has a policy in place that requires that we setup a merchant as a vendor before we can make large purchases. We can't directly purchase from online stores before we finish this process. I have attempted to email contact@modalai.com a few times over a week without any answer. Is there a better way to contact someone to get this setup?

Hello @ApoorvThapliyal,

Yes, I am dragging the point up and panning the camera around to ensure it is roughly the same height as the drone. The line drawn for the path is pretty straight and at the correctly level. The drone just ends up flying down below the point after I have move it.

@ApoorvThapliyal, if you/your team needs anymore information or data, do let me know. Thank you.

For convenience I took out the section that has the trajectory from the voxl-vision-hub logs:

commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.7 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.7 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.7 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.7 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.7 yaw: 0.3
Received trajectory has duration 1.953539 seconds
Received load and start command.
commanding: XYZ -0.4 -0.2 -1.0 yaw: 0.7 V: 0.0 0.0 -0.0 A: 0.1 0.0 -0.0
commanding: XYZ -0.4 -0.2 -1.0 yaw: 0.7 V: 0.0 0.0 -0.0 A: 0.2 0.2 -0.0
commanding: XYZ -0.4 -0.2 -1.0 yaw: 0.7 V: 0.0 0.0 -0.0 A: 0.3 0.3 -0.0
commanding: XYZ -0.4 -0.2 -1.0 yaw: 0.7 V: 0.0 0.0 -0.0 A: 0.5 0.5 -0.0
commanding: XYZ -0.4 -0.2 -1.0 yaw: 0.7 V: 0.0 0.0 -0.0 A: 0.7 0.6 0.0
commanding: XYZ -0.4 -0.2 -1.0 yaw: 0.7 V: 0.1 0.1 -0.0 A: 0.9 0.7 0.0
commanding: XYZ -0.3 -0.2 -1.0 yaw: 0.7 V: 0.1 0.1 0.0 A: 1.0 0.9 0.0
commanding: XYZ -0.3 -0.2 -1.0 yaw: 0.7 V: 0.1 0.1 0.0 A: 1.1 0.9 0.0
commanding: XYZ -0.3 -0.2 -1.0 yaw: 0.7 V: 0.2 0.2 0.0 A: 1.1 1.0 0.0
commanding: XYZ -0.3 -0.2 -1.0 yaw: 0.7 V: 0.2 0.2 0.0 A: 1.2 1.0 0.0
commanding: XYZ -0.3 -0.2 -1.0 yaw: 0.7 V: 0.3 0.2 0.0 A: 1.2 1.0 0.0
commanding: XYZ -0.3 -0.2 -1.0 yaw: 0.7 V: 0.3 0.3 0.0 A: 1.2 1.0 0.0
commanding: XYZ -0.3 -0.1 -1.0 yaw: 0.7 V: 0.3 0.3 0.0 A: 1.2 1.0 0.0
commanding: XYZ -0.3 -0.1 -1.0 yaw: 0.7 V: 0.4 0.3 0.0 A: 1.1 1.0 0.0
commanding: XYZ -0.3 -0.1 -1.0 yaw: 0.7 V: 0.4 0.4 0.0 A: 1.1 1.0 0.0
commanding: XYZ -0.3 -0.1 -1.0 yaw: 0.7 V: 0.4 0.4 0.0 A: 1.1 1.0 0.0
Received trajectory has duration 1.452853 seconds
Received insert command.
commanding: XYZ -0.3 -0.1 -1.0 yaw: 0.7 V: 0.5 0.4 0.0 A: 1.1 0.9 0.0
commanding: XYZ -0.2 -0.1 -1.0 yaw: 0.7 V: 0.5 0.4 0.0 A: 1.0 0.9 0.0
commanding: XYZ -0.2 -0.1 -1.0 yaw: 0.7 V: 0.5 0.5 0.0 A: 1.0 0.9 0.0
commanding: XYZ -0.2 -0.1 -1.0 yaw: 0.7 V: 0.6 0.5 0.0 A: 0.9 0.8 0.0
commanding: XYZ -0.2 -0.0 -1.0 yaw: 0.7 V: 0.6 0.5 0.0 A: 0.8 0.7 0.1
commanding: XYZ -0.2 -0.0 -1.0 yaw: 0.7 V: 0.6 0.6 0.0 A: 0.8 0.6 0.1
commanding: XYZ -0.1 0.0 -1.0 yaw: 0.7 V: 0.7 0.6 0.0 A: 0.7 0.5 0.1
commanding: XYZ -0.1 0.0 -1.0 yaw: 0.7 V: 0.7 0.6 0.0 A: 0.6 0.5 0.1
commanding: XYZ -0.1 0.0 -1.0 yaw: 0.7 V: 0.7 0.6 0.0 A: 0.5 0.4 0.1
commanding: XYZ -0.1 0.1 -1.0 yaw: 0.7 V: 0.7 0.6 0.0 A: 0.4 0.3 0.0
commanding: XYZ -0.0 0.1 -1.0 yaw: 0.7 V: 0.7 0.6 0.0 A: 0.3 0.2 0.0
commanding: XYZ -0.0 0.1 -1.0 yaw: 0.7 V: 0.7 0.6 0.0 A: 0.2 0.1 0.0
commanding: XYZ 0.0 0.1 -1.0 yaw: 0.7 V: 0.7 0.6 0.0 A: 0.0 0.0 0.0
Received trajectory has duration 0.510237 seconds
Received insert command.
commanding: XYZ 0.0 0.1 -1.0 yaw: 0.7 V: 0.7 0.6 0.0 A: -0.1 -0.1 0.0
commanding: XYZ 0.1 0.2 -1.0 yaw: 0.7 V: 0.7 0.6 0.0 A: -0.2 -0.2 0.0
commanding: XYZ 0.1 0.2 -1.0 yaw: 0.7 V: 0.6 0.5 0.0 A: -0.2 -0.2 0.0
commanding: XYZ 0.1 0.2 -1.0 yaw: 0.7 V: 0.6 0.5 0.0 A: -0.3 -0.2 0.0
commanding: XYZ 0.1 0.2 -1.0 yaw: 0.7 V: 0.6 0.5 0.0 A: -0.4 -0.3 -0.0
commanding: XYZ 0.1 0.2 -1.0 yaw: 0.7 V: 0.6 0.5 0.0 A: -0.5 -0.4 -0.0
commanding: XYZ 0.2 0.3 -1.0 yaw: 0.7 V: 0.6 0.5 0.0 A: -0.6 -0.5 -0.0
commanding: XYZ 0.2 0.3 -1.0 yaw: 0.7 V: 0.6 0.5 0.0 A: -0.7 -0.6 -0.0
commanding: XYZ 0.2 0.3 -1.0 yaw: 0.7 V: 0.5 0.5 0.0 A: -0.7 -0.6 -0.0
commanding: XYZ 0.2 0.3 -1.0 yaw: 0.7 V: 0.5 0.4 0.0 A: -0.7 -0.6 -0.0
commanding: XYZ 0.2 0.3 -1.0 yaw: 0.7 V: 0.5 0.4 0.0 A: -0.8 -0.7 -0.0
commanding: XYZ 0.2 0.3 -1.0 yaw: 0.7 V: 0.5 0.4 0.0 A: -0.8 -0.7 -0.0
commanding: XYZ 0.3 0.3 -1.0 yaw: 0.7 V: 0.4 0.4 0.0 A: -0.8 -0.7 -0.0
commanding: XYZ 0.3 0.4 -1.0 yaw: 0.7 V: 0.4 0.3 0.0 A: -0.8 -0.7 -0.0
commanding: XYZ 0.3 0.4 -1.0 yaw: 0.7 V: 0.4 0.3 0.0 A: -0.8 -0.7 -0.0
commanding: XYZ 0.3 0.4 -1.0 yaw: 0.7 V: 0.4 0.3 0.0 A: -0.7 -0.6 -0.0
commanding: XYZ 0.3 0.4 -1.0 yaw: 0.7 V: 0.3 0.3 0.0 A: -0.5 -0.5 -0.0
commanding: XYZ 0.3 0.4 -1.0 yaw: 0.7 V: 0.3 0.3 0.0 A: -0.4 -0.3 0.0
commanding: XYZ 0.3 0.4 -1.0 yaw: 0.7 V: 0.3 0.3 0.0 A: -0.3 -0.3 0.0
commanding: XYZ 0.3 0.4 -1.0 yaw: 0.7 V: 0.3 0.2 0.0 A: -0.4 -0.4 0.0
commanding: XYZ 0.3 0.4 -1.0 yaw: 0.7 V: 0.3 0.2 0.0 A: -0.6 -0.5 -0.0
commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 V: 0.2 0.2 0.0 A: -0.8 -0.7 -0.0
commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 V: 0.2 0.2 0.0 A: -1.1 -0.9 -0.1
commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 V: 0.2 0.1 0.0 A: -1.3 -1.1 -0.1
commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 V: 0.1 0.1 0.0 A: -1.4 -1.1 -0.1
commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 V: 0.1 0.1 0.0 A: -1.3 -1.1 -0.1
commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 V: 0.0 0.0 0.0 A: -1.0 -0.9 -0.1
commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 V: 0.0 0.0 0.0 A: -0.7 -0.6 -0.1
commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 V: 0.0 0.0 0.0 A: -0.3 -0.2 -0.0
commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 V: 0.0 0.0 0.0 A: -0.0 -0.0 -0.0
commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 V: -0.0 -0.0 0.0 A: -0.0 -0.0 0.0
FINISHED TRAJECTORY
commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
commanding: XYZ 0.4 0.5 -1.0 yaw: 0.7
commanding: XYZ 0.4 0.5 -1.0 yaw: 0.7
commanding: XYZ 0.4 0.5 -1.0 yaw: 0.7
commanding: XYZ 0.4 0.5 -1.0 yaw: 0.7
commanding: XYZ 0.4 0.5 -1.0 yaw: 0.7

Hello @ApoorvThapliyal,

I put the log file here: log100.ulg on Filebin.net
I also put the the output from voxl-vision-hub --debug_offboard suggested by @Cliff-Wong in another post in another upload here voxl-vision-hub-log.txt on Filebin.net.

When I attempted the flight, the drone appeared to fly to the correct X and Z coordinates, but it was close to the floor and well below the correct Y coordinate.

Here are a couple of picture of the map and projected route:

And a couple of the map after the drone tried to navigate and ended up below the point:

Hello ModalAI Team,

Please let me know if there is any further information needed. So far, I haven't had the drone successfully navigate in trajectory in any version of the VOXL SDK I've tried (1.4/1.5/1.6).

Hello ModalAI Team,

I am still trying to get the navigation working with my team's Starling 2.

system-image: 1.8.06-M0054-14.1a-perf
kernel: #1 SMP PREEMPT Wed Oct 22 04:13:18 UTC 2025 4.19.125
hw platform: M0054
mach.var: 1.0.1
SKU: MRB-D0014-4-V1-C27-T8-M22-X0
voxl-suite: 1.6.2

I have updated the drone to the latest voxl version 1.6.2. I am able to fly the drone in position mode and figure 8 mode.

I few the drone around for a couple of minutes in our testing room gathering map data. I then switched the drone into offboard_mode: trajectory. I planned a point and saw the projected path drawing a simple straight line. There are not obstacles in the way to navigate around/avoid. The drone just flew directly at the grown instead of following the path. Is there anything I should try software/settings-wise to try and get navigation working? Is there anything about the layout/appearance of a room that could cause this? Please see the attached image.

@Cliff-Wong Thanks! I will try this as soon as possible and report how it works out.