Hi Cris, some answers to your questions:

1. Ubuntu 18.04 for the time being (datasheet).
2. ROS 1 and 2 are easily installed. Examples are pending. Current SDK is documented here
3. The image sensors are available via gstreamer. We will have an IMU API soon.
4. Soft AP and station mode are supported (docs)
5. VNC/GUI - we have not tried this, but it's Ubuntu so it seems likely something could be tried
6. See datasheet for architecture. Yes, there is an SD Card slot.
7. The kit comes with everything shown here, the 5G modem is optional.
8. The 4G add-on, 5G add-on, Microhard add-on are all optionally supported.

posted a few basics in the docs https://docs.modalai.com/voxl-tflite-server/

You can see exactly where the image comes in her: https://gitlab.com/voxl-public/modal-pipe-architecture/voxl-tflite-server/-/blob/master/server/threads.cpp#L105

Your understanding is correct, ModalAI's supported configurations are a result of Qualcomm limitations

The lens is fixed focus, but if you twist the little black part of the lens you should be able to focus.

It would have shipped with everything tested and working. What do you mean by "passed the wizard"?

Are you flipping the fastboot switch back? Your symptom is consistent with leaving the fastboot switch engaged instead of setting it back to normal after a few seconds

Might be worth watching the tutorial here if you're unsure

The system was tested in VIO mode for 20 minutes before shipping. All drones are very sensitive to frame modifications, so this needs to be done carefully

• Were you able to fly successfully before frame modifications?
• How well does it fly manually? Have you looked at the logs in manual.mode for vibration?
• Can you please share a log of the VIO output?
• If you reset all of the software, you may need to recalibrate the cameras
• It looks like there are loose parts hanging off of the drone. VIO is VERY sensitive to vibration. Can you revert your frame modifications and try again?

We do not have a thermal option available today, though the Flir Boson and Lepton have been integrated by customers in the past using USB

Stereo cameras need to be co-planar and mounted rigidly. Then they need to be calibrated. Otherwise you should be able to mount wherever convenient

For VIO use voxl-inspect-qvio

For GPS use voxl-inspect-gps

The source code for those is here

Thanks for posting the ssl fix. We're looking into this. We don't typically use rosdep for anything. Is there something specific you need to get working?

A more traditional ROS experience is easy to achieve running Ubuntu in a Docker on VOXL : https://docs.modalai.com/docker-on-voxl/

You should try the latest stable then. You cannot mix new and old code.

What band is your cellular network? What bands does your modem support? Do they match?

The Flight Controller does not use the B2B connector. If there is a modem or USB breakout though they are using the B2B connector.

The OV9282 driver is supported. I'm not sure what power up sequencing means.

Can you use OV9782 (RGB)? We have an OV9782 module for VOXL 2

If you are working from dev branch, you need to use the dev branch for all of your packages.

See package configuration here: https://docs.modalai.com/configure-pkg-manager/

Have you looked at the video tutorial here? https://docs.modalai.com/configure-extrinsics/

It is located under the LPDDR4, see circle here

Have you performed PX4 Multi-rotor PID tuning? That is required for every new platform

https://docs.px4.io/main/en/config_mc/pid_tuning_guide_multicopter.html

We have starling PID parameters published here for VOXL 2: https://gitlab.com/voxl-public/flight-core-px4/px4-parameters/-/blob/master/platforms/v1.12/Starling/Starling_V2_param_rev_D.params

Switching back and forth between GPS and VIO has not been well supported in PX4. It's an area we are investigating internally and have been working on for over a year. We are working with the PX4 dev team on better support, but it will be incremental changes for the time being.

I would not recommend using just relying on VIO outdoors as the terrain may not always be suitable.