Hello ModalAI Team,

I have a Starling 2 drone:

system-image: 1.8.02-M0054-14.1a-perf
kernel: #1 SMP PREEMPT Mon Mar 24 22:31:58 UTC 2025 4.19.125
hw platform: M0054
mach.var: 1.0.1
SKU: MRB-D0014-4-V1-C27-T8-M22-X0
voxl-suite: 1.4.5

Services:

When using the navigation of the Mapper, after plotting a location like this short route with no obstacles:

The drone flies up into the ceiling. The position mode works well though it can drift upwards some. The drone can run the figure 8 without any issue. So far, I am not sure what the issue with the navigation once the Mapper create the route. It am afraid the drone with break itself or something else in the room. I can attempt to send videos of the fly if they would be helpful.

@tom It was a PX 4 Dev Kit. But, thanks for the help. I was able to get the cameras calibrated. I will testing the manual and hold position fly-modes before trying any cv-based flight/navigation. I'll start a new thread for any future questions.

@tom Thanks. I ran the check calibration:

voxl-check-calibration
Calibration File Status:
Present /data/modalai/voxl-imu-server.cal
Missing /data/modalai/opencv_tracking_front_intrinsics.yml
Missing /data/modalai/opencv_tracking_down_intrinsics.yml
Missing /data/modalai/opencv_tracking_rear_intrinsics.yml
Present /data/px4/param/parameters_gyro.cal
Present /data/px4/param/parameters_acc.cal
Present /data/px4/param/parameters_level.cal
Present /data/px4/param/parameters_baro_tc.cal
Present /data/px4/param/parameters_mag.cal

I assume I should calibrate the tracking cameras still.

@tom Thanks for the help. I followed your instructions and rebooted. When I inspect the services, I get the output:

voxl2:~$ voxl-inspect-services
Scanning services...

Service Name | Enabled | Running | CPU Usage

docker-autorun | Disabled | Not Running |
modallink-relink | Disabled | Not Running |
voxl-camera-server | Enabled | Running | 66.7%
voxl-cpu-monitor | Enabled | Running | 0.0%
voxl-dfs-server | Disabled | Not Running |
voxl-elrs-startup | Disabled | Not Running |
voxl-feature-tracker | Disabled | Not Running |
voxl-flow-server | Disabled | Not Running |
voxl-imu-server | Enabled | Running | 3.5%
voxl-io-server | Disabled | Not Running |
voxl-lepton-server | Disabled | Not Running |
voxl-lepton-tracker | Disabled | Not Running |
voxl-logger | Disabled | Not Running |
voxl-mapper | Enabled | Running | 1.8%
voxl-mavcam-manager | Enabled | Running | 0.0%
voxl-mavlink-server | Enabled | Running | 3.5%
voxl-modem | Disabled | Not Running |
voxl-open-vins-server | Enabled | Not Running |
voxl-osd | Disabled | Not Running |
voxl-portal | Enabled | Running | 0.0%
voxl-px4-imu-server | Disabled | Not Running |
voxl-px4 | Enabled | Running | 24.6%
voxl-qvio-server | Disabled | Not Running |
voxl-rangefinder-server | Enabled | Not Running |
voxl-remote-id | Disabled | Not Running |
voxl-seek-server | Disabled | Not Running |
voxl-softap | Disabled | Not Running |
voxl-state-estimator | Disabled | Not Running |
voxl-static-ip | Disabled | Not Running |
voxl-streamer | Enabled | Running | 0.0%
voxl-tag-detector | Disabled | Not Running |
voxl-tflite-server | Disabled | Not Running |
voxl-time-sync | Disabled | Not Running |
voxl-uvc-server | Disabled | Not Running |
voxl-vision-hub | Enabled | Running | 3.5%
voxl-vrx | Disabled | Not Running |
voxl-vtx | Disabled | Not Running |
voxl-wait-for-fs | Enabled | Completed |

Is there anything else I should check/configure before attempting to fly and use the mapper service?

@tom The output is as follows:

**voxl2:~$ voxl-configure-cameras

Available camera config IDs are as follows:

01 - ov7251 tracking ov7251 stereo
02 - ov7251 tracking
03 - ov7251 tracking ov7251 stereo imx214 hires
04 - ov7251 tracking imx214 hires
05 - pmd-tof ov7251 tracking
06 - D0005 Starling pmd-tof imx214 hires ov7251 tracking
08 - imx214
09 - pmd-tof
10 - ov7251 stereo
11 - D0006 Sentinel
12 - ov9782 stereo
13 - ov9782 stereo imx214 hires
14 - ov9782 stereo pmd-tof ov7251 tracking (copy)
15 - D0008 dual 9782 tracking
16 - pmd-tof ov7251 dual tracking imx214 hires
17 - D0010 pmd-tof imx412 hires ov7251 tracking ov9782 stereo
18 - D0008 triple ov9782
19 - D0005 without tof imx214 hires ov7251 tracking
20 - D0011 imx412 hires ar0144 tracking
21 - old C6
23 - D0010 without stereo
24 - pmd-tof LIOW2 (new TOF)
25 - dual ar0144
31 - D0013 Prototype M0135 dual ar0144
32 - D0008 triple ov9782 rotated
C - use user-defined custom camera config in
(/data/modalai/custom_camera_config.txt)
q - Quit The Wizard**

I don't see the option that I saw when using the sku wizard:

**Available camera config IDs are as follows:

        Welcome to the voxl-configure-sku Wizard!

VOXL currently thinks it is in the following hardware:

family code: MRB-D0011 (px4-autonomy-dev-kit)
compute board: 4 (voxl2)
hw version: 1
cam config: 20
modem config: 0 (none)
tx config: 7 (elrs_beta_fpv)
extras config: 0 (none)
SKU: MRB-D0011-4-V1-C20-T7-M0-X0

If this is what you want, select 1 (accept and continue) to
leave it as-is. Otherwise, select the desired product family:

1. accept and continue 14) voxlcam
2. starling-2 15) seeker-legacy
3. starling-2-max 16) rb5-flight
4. seeker-vision 17) flight-deck
5. stinger 18) voxl-deck
6. sparrow 19) voxl2-flight-deck
7. seeker-max 20) voxl2-test-fixture
8. starling-1-discontinued 21) voxl2-mini-test-fixture
9. px4-autonomy-dev-kit 22) voxl2-board-only
10. sentinel 23) voxl2-mini-board-only
11. D0010 24) MVX-T0001
12. D0015 25) MVX-R0001
13. m500 26) quit
    #? 2
    selected starling-2

If you would like to select a special camera config that differs
from the default for your product family, please select an option.
Simply hit ENTER to use the default

01 - ov7251 tracking ov7251 stereo
02 - ov7251 tracking
03 - ov7251 tracking ov7251 stereo imx214 hires
04 - ov7251 tracking imx214 hires
05 - pmd-tof ov7251 tracking
06 - D0005 Starling pmd-tof imx214 hires ov7251 tracking
08 - imx214
09 - pmd-tof
10 - ov7251 stereo
11 - D0006 Sentinel
12 - ov9782 stereo
13 - ov9782 stereo imx214 hires
14 - ov9782 stereo pmd-tof ov7251 tracking (copy)
15 - D0008 dual 9782 tracking
16 - pmd-tof ov7251 dual tracking imx214 hires
17 - D0010 pmd-tof imx412 hires ov7251 tracking ov9782 stereo
18 - D0008 triple ov9782
19 - D0005 without tof imx214 hires ov7251 tracking
20 - D0011 imx412 hires ar0144 tracking
21 - old C6
23 - D0010 without stereo
24 - pmd-tof LIOW2 (new TOF)
25 - dual ar0144
31 - D0013 Prototype M0135 dual ar0144
32 - D0008 triple ov9782 rotated
C - use user-defined custom camera config in
(/data/modalai/custom_camera_config.txt)
q - Quit The Wizard

The default camera configs for Starling 2 are
26 (imx412 hires, dual ar0144 tracking)
27 (imx412 hires, triple ar0144 tracking)

Simply hit ENTER to use the default

selection: 27
Selected numerical camera config

For VOXL 2 and VOXL 2 Mini based drones, there are several transmitter options.
Please select the appropriate one.

Select a numeric option:
0) none

1. Spektrum
2. TBS Crossfire
3. ELRS (Beta FPV Default)
4. ELRS (ModalAI M0184)
5. Ghost
6. ELRS (ModalAI M0193)
   #? 8

For Starling 2 and Starling 2 Max drones, there is an optional lepton sensor.
Is a lepton sensor installed on your drone? (-X8).

1. yes
2. no
   #? 2

Select the modem hardware.
Simply hit ENTER if none

0 - none
1 - unknown
3 - Microhard v2, No Radio (M0048-3)
4 - LTE v2, 7610 NA (M0030)
5 - LTE v2, 7607 EMEA EOL (M0030)
6 - LTE v2, No Modem (M0030)
7 - VOXL 2 5G Quectel (M0067/M0090-3-01)
8 - LTE v2, 7611 NA (M0030)
9 - VOXL 2 5G Telit (M0090-1-03)
10 - Microhard v2, pMDDL2350 (M0048)
11 - Microhard v2, pMDDL2450(M0048)
12 - LTE v2, 7620 EMEA (M0030)
13 - M0078-2 w/ Alpha WiFi Dongle, AC600
14 - VOXL 5G Telit (M0090-1-03)
15 - VOXL 2 5G Quectel (M0090-3-01)
16 - M0078-2 w/ Alfa Networks WiFi Dongle, AC1200
17 - M0078-2 w/ Alfa Networks WiFi Dongle, AC600 (modified)
18 - Doodle RM-2450, 2.4GHz
19 - Doodle RM-2025, Hex Band
20 - M0130 RC7611 (Americas)
21 - M0130 RC7620 (EMEA)
22 - M0141 w/ Alfa Networks WiFi Dongle AWUS036EACS
23 - Doodle Mini-OEM, RM-1700-22M3 (915MHz, 2.4GHz)
24 - M0090-3-2 Sierra EM9291)
25 - VTX (M0176 + M0175)
26 - VTX (M0185)
27 - Microhard, pMDDL1621 (M0059-1)
28 - M0151 w/ Alfa Networks WiFi Dongle AWUS036EACS
29 - Microhard v2, pMDDL 1800 (M0048)
30 - VRX (M0206, Mini Pini)
31 - VRX (M0206, SparkLAN)
32 - WaveMux
2026 - M0130 RC7611 (Americas) + VTX (M0185)
2126 - M0130 RC7620 (EMEA) + VTX (M0185)

q - Quit The Wizard

Simply hit ENTER if none

selection: 22
Selected numerical modem config

Your answers would construct the following SKU:

family code: MRB-D0014 (starling-2)
compute board: 4 (voxl2)
hw version: 1
cam config: 27
modem config: 22 (M0141 w/ Alfa Networks WiFi Dongle AWUS036EACS)
tx config: 8 (elrs_m0184)
extras config: 0 (none)
SKU: MRB-D0014-4-V1-C27-T8-M22-X0

This sku will be saved to persistent memory so VOXL
will remember what it is installed in, even between
system image flashes.

Press enter to accept and continue.**

The SKU wizard did throw an error for configuration 27

available camera configurations are as follows:
01 - ov7251 tracking ov7251 stereo
02 - ov7251 tracking
03 - ov7251 tracking ov7251 stereo imx214 hires
04 - ov7251 tracking imx214 hires
05 - pmd-tof ov7251 tracking
06 - D0005 Starling pmd-tof imx214 hires ov7251 tracking
08 - imx214
09 - pmd-tof
10 - ov7251 stereo
11 - D0006 Sentinel
12 - ov9782 stereo
13 - ov9782 stereo imx214 hires
14 - ov9782 stereo pmd-tof ov7251 tracking (copy)
15 - D0008 dual 9782 tracking
16 - pmd-tof ov7251 dual tracking imx214 hires
17 - D0010 pmd-tof imx412 hires ov7251 tracking ov9782 stereo
18 - D0008 triple ov9782
19 - D0005 without tof imx214 hires ov7251 tracking
20 - D0011 imx412 hires ar0144 tracking
21 - old C6
23 - D0010 without stereo
24 - pmd-tof LIOW2 (new TOF)
25 - dual ar0144
31 - D0013 Prototype M0135 dual ar0144
32 - D0008 triple ov9782 rotated
FAILED TO EXECUTE: voxl-configure-cameras 27

The serial number is M23000003CZ.

The drone was originally a PX4 Dev Kit. But, it has been upgraded with the parts for a Starling 2 with 3 tracking sensors. Support helped provide the necessary parts and brackets. The main addition is the:

MDK-M0187-1-01 Dev Kit, VOXL 2 Lepton Plus TOF V2 Adapter Board & MCBL-00105-2

The Lepton adapter board isn't connect as there currently isn't a sensor attached. I have attached pictures of the drone fully assembled.

@tom

I don't really get any options when I try the configure camera command:

voxl2:~$ voxl-calibrate-camera tracking -f
Waiting for valid pipe...

It just says waiting for valid pipe.

I will double check the stickers and provide the serial number once I find it.

Hello,

I am trying to calibrate the tracking cameras on my Starling 2. After running voxl-configure-mpa it seems that the calibration files for the tracking cameras is missing.

Here is the current configuration:

system-image: 1.8.02-M0054-14.1a-perf
kernel: #1 SMP PREEMPT Mon Nov 11 22:08:01 UTC 2024 4.19.125
hw platform: M0054
mach.var: 1.0.0
SKU: MRB-D0014-4-V1-C27-T8-M22-X0
voxl-suite: 1.4.5

It has the three tracking cameras, hi-res camera, and ToF sensor.

I follow the configuration wizard (voxl-configure-sku --wizard) with these options:
camera configuration: 27
transmitter options: 8
lepton: 2 / no
modem hardware: 22

I then ran voxl-configure-mpa after the configuration. I got the following output:

     FAILED TO EXECUTE the following steps:

voxl-configure-cameras 27

  Encountered Problems Configuring MPA Services :-/
    Some Services may not start up on next reboot

Calibration File Status:
Present /data/modalai/voxl-imu-server.cal
Missing /data/modalai/opencv_tracking_front_intrinsics.yml
Missing /data/modalai/opencv_tracking_down_intrinsics.yml
Missing /data/modalai/opencv_tracking_rear_intrinsics.yml
Present /data/px4/param/parameters_gyro.cal
Present /data/px4/param/parameters_acc.cal
Present /data/px4/param/parameters_level.cal
Present /data/px4/param/parameters_baro_tc.cal
Present /data/px4/param/parameters_mag.cal

Detected Missing Calibration Files
please run the required cals
https://docs.modalai.com/calibration/

            PLEASE POWER CYCLE YOUR VOXL

Following the documentation on calibration, I tried to calibrate the cameras. I tried the following commands:
voxl-calibrate-camera "tracking front" -f
voxl-calibrate-camera tracking -f
voxl-calibrate-camera "tracking down" -f

I opened the VOXL portal and was not able to see the camera feed for the calibration. I included a screen shot of the camera_calibrator_overlay section of the VOXL portal.

Thanks @tom. Is there any other avenue I can try? I've sent a couple of email with no response.

Thanks @tom. Is there another email address I can reach out to? The mail server has returned the same error twice trying to deliver and email saying that, that email address does not exist or that won't accept a message.

5.1.0 - Unknown address error 550-"5.1.1 The email account that you tried to reach does not exist."

Do I need to fill out a support form first?

Thank you, @tom! I assume this doesn't come with a bracket to attach the camera/sensor to the drone. Is that correct? Is the bracket available for purchase? I don't see it list in the accessories.