Hi ModalAI team,

We are using a VOXL2 / Starling 2 platform. Currently we use the M0166 AR0144 tracking camera, which works well because it is global shutter, but our module is monochrome.

We would like to collect RGB/color images while moving at around 1 m/s. The issue is that rolling-shutter color cameras such as IMX412/IMX664 can show motion blur unless exposure is very short and lighting is strong.

Is there any VOXL2-compatible color global shutter camera module available or recommended?

Specifically:

1. Is there an AR0144 color global shutter module compatible with VOXL2?
2. Is it supported by voxl-camera-server and MPA as an RGB output pipe?
3. Is it compatible with the M0173 adapter used on Starling 2?
4. If not officially available, is there any recommended camera module, sensor, or integration path for color + global shutter on VOXL2?
5. Would the AR0144 color Bayer output be supported with CPU debayering or MISP, similar to the RGB output discussed in this thread?
6. Are there known limitations in FPS, resolution, exposure control, or CPU load when using AR0144 color as RGB?

Our use case is downward-facing perception and dataset collection at approximately 1 m/s, where we need color information while minimizing motion blur.

Thanks!

We have a Starling 2 that normally flies at approximately 1000-1300 m above sea level. It starts struggling around 1800 m, and at approximately 2400 m above sea level, it only climbs about 20 cm. Even in manual/PostCtrl mode, it does not climb.

Observations:

• Battery charge: 7.3-8 V.

• Rotor speed: 12,000 RPM.

• Takeoff is detected, but the drone cannot climb.

• Geofence and altitude parameter limits were checked (no strict limits were found).

• The drone's position is estimated using VIO (OpenVins). GPS is disabled, and a barometer is not used to aid in altitude estimation.

Hypothesis:

• At high altitude (2400 m), air density reduces thrust; the hover throttle is likely saturated. We increased MPC_THR_MAX and adjusted MPC_THR_HOVER, pending testing.

Request: Are any adjustments to the PX4 (acceleration/hover/air density) or propeller/motor modifications recommended so that the Starling 2 can maintain flight at approximately 2600 m above sea level?

Attachment: PX4 Flight log from 2400 meters above sea level.
https://review.px4.io/plot_app?log=45254900-3c62-4bc8-bcb3-6cf669b0e9e2