@Eric-Katzfey thank you for that. I have another issue, when i toggle the controller from manual mode to position mode, sometimes he drone holds it height, but sometimes, it just flies away and crashes. I have calibrated the compass, gyro and accelerometer, it still exhibit same behavior (infact thats how all the drones behave), so that means there is something I am not doing right, or I am missing. I ran ros2 topic echo /fmu/out/vehicle_odometry to see whats happening with the VIO, this was the output:

timestamp: 1770551010017542
timestamp_sample: 1770551010015689
pose_frame: 1
position: [1.8852728605270386, 0.3567788600921631, -7.352701663970947]
q: [0.9946960806846619, 0.013231446966528893, -0.00516587495803833, 0.1018725335597992]
velocity_frame: 1
velocity: [-0.0011717384913936257, 0.002392425434663892, -0.004358584061264992]
angular_velocity: [0.0007909969426691532, -0.003044810611754656, -0.0005365335382521152]
position_variance: [0.00031149128335528076, 0.00031149270944297314, 0.0004529791767708957]
orientation_variance: [1.4802474652242381e-05, 1.478460126236314e-05, 0.00020037211652379483]
velocity_variance: [0.0006313467747531831, 0.0006313963094726205, 0.0006925623747520149]
reset_counter: 25
quality: 0

This is weird because the drone is on the ground, why is my Z reading -7.352?
Also, i keep getting heading_good_for_control: False (what can i do to fix it?)

I moved the drone round the lab to capture features, yet the quality is still zero, and why does it keep resetting (from the reset_counter)?.

Kindly help.
Thanks

Hello support,

How can I get telemetry data for my starling 2 drone? Is there an App available?

Thanks.

Regards,
Taiwo

@Alex-Kushleyev Yes I used the the right size. I ran this: voxl-calibrate-camera tracking_front -f -s 6x8 -l 0.030. I was able to get it to a 100 percent several times, but i keep getting caibration failed.

This is the output from the terminal:
starling2 (D0014):~$ voxl-calibrate-camera tracking_front -f -s 6x8 -l 0.030
Waiting for valid pipe...
Please open voxl-portal in a web browser to view the camera calibrator overlay stream
Running Calibration...
Matrix
[462.8203351079722, 0, 655.3416216062686;
0, 465.2531654785162, 372.0681441827904;
0, 0, 1]
Distortion
[0.1093065188826117;
-0.05638236547106363;
0.05691560193039599;
-0.01890034155803672]
distortion_model: fisheye
Re-projection error reported by calibrateCamera: 1.32316
Calibration Failed
Max reprojection error: 0.60
This is most likely due to motion blur, please try again.
Exiting Cleanly
starling2 (D0014):~$

@Moderator Thank you for the link. But he says he needs to get on a call with the technical team. It's a year already and I still don't know much about the drones (which may be from my end, I don't know), but he wants to handle this himself this time around and get all necessary information on a single call sometime early in January 2026. Kindly let me know if this is possible, and how to go about it.

Thanks

@Alex-Kushleyev Also, when you run voxl-inspect-services, voxl-camera-server will be enables but not running, Immediately i start it, it runs and stops almost immediately

@Alex-Kushleyev I updated to SDK 1.62 already, and yes I only inspected using voxl-inspect-cam tracking_down tracking_front tracking_rear tof_ir hires_small_color.
After running that, I got this (empty response), and when you Ctrl C, you get waiting for server

This is the output after I ran voxl-inspect-cpu

After running voxl-camera-server, i got this:

voxl2:/$ voxl-camera-server
Setting MISP AWB to Auto
MISP channels enabled in defaults : 0
MISP channels enabled in config file: 0
detected system image 1.8.6
using new imx412 defaults
Setting MISP AWB to Auto
MISP channels enabled in defaults : 0
MISP channels enabled in config file: 0
Setting MISP AWB to Auto
MISP channels enabled in defaults : 0
MISP channels enabled in config file: 0

configuration for 5 cameras:

cam #0
name: tracking_front
type: ar0144
bayer_type: 0
enabled: 1
camera_id: 0
camera_id_second: -1
fps: 30
en_rotate: 1
en_rotate2: 0

en_preview:          1
en_raw_preview:      1
preview_width:       1280
preview_height:      800

en_misp:             0
misp_width:          1280
misp_height:         800

en_small_video:      0
small_video_width:   -1
small_video_height:  -1

en_large_video:      0
large_video_width:   -1
large_video_height:  -1

en_snapshot:         0
snap_width:          -1
snap_height:         -1
exif_focal_length:   0.000000
exif_focal_len_35mm_format:0
exif_fnumber:        0.000000

ae_mode:             lme_msv
msv_exposure_min_us: 20
msv_exposure_max_us: 12000
gain_min           : 54
gain_max           : 8000
standby_enabled:     0
decimator:           1
independent_exposure:0

cam #1
name: hires
type: imx412
bayer_type: 2
enabled: 1
camera_id: 1
camera_id_second: -1
fps: 30
en_rotate: 0
en_rotate2: 0

en_preview:          0
en_raw_preview:      0
preview_width:       640
preview_height:      480

en_misp:             0
misp_width:          -1
misp_height:         -1

en_small_video:      1
small_video_width:   1024
small_video_height:  768

en_large_video:      1
large_video_width:   4056
large_video_height:  3040

en_snapshot:         1
snap_width:          4056
snap_height:         3040
exif_focal_length:   3.100000
exif_focal_len_35mm_format:17
exif_fnumber:        1.240000

ae_mode:             isp
msv_exposure_min_us: 20
msv_exposure_max_us: 33000
gain_min           : 54
gain_max           : 8000
standby_enabled:     0
decimator:           1
independent_exposure:0

cam #2
name: tracking_rear
type: ar0144
bayer_type: 0
enabled: 1
camera_id: 2
camera_id_second: -1
fps: 30
en_rotate: 1
en_rotate2: 0

en_preview:          1
en_raw_preview:      1
preview_width:       1280
preview_height:      800

en_misp:             1
misp_width:          1280
misp_height:         800

en_small_video:      0
small_video_width:   -1
small_video_height:  -1

en_large_video:      0
large_video_width:   -1
large_video_height:  -1

en_snapshot:         0
snap_width:          -1
snap_height:         -1
exif_focal_length:   0.000000
exif_focal_len_35mm_format:0
exif_fnumber:        0.000000

ae_mode:             lme_msv
msv_exposure_min_us: 20
msv_exposure_max_us: 12000
gain_min           : 54
gain_max           : 8000
standby_enabled:     0
decimator:           1
independent_exposure:0

cam #3
name: tof
type: pmd-tof-liow2
bayer_type: 0
enabled: 1
camera_id: 3
camera_id_second: -1
fps: 10
en_rotate: 1
en_rotate2: 0

en_preview:          1
en_raw_preview:      1
preview_width:       240
preview_height:      1629

en_misp:             0
misp_width:          -1
misp_height:         -1

en_small_video:      0
small_video_width:   -1
small_video_height:  -1

en_large_video:      0
large_video_width:   -1
large_video_height:  -1

en_snapshot:         0
snap_width:          -1
snap_height:         -1
exif_focal_length:   0.000000
exif_focal_len_35mm_format:0
exif_fnumber:        0.000000

ae_mode:             off
msv_exposure_min_us: 0
msv_exposure_max_us: 6000
gain_min           : 0
gain_max           : 0
standby_enabled:     0
decimator:           5
independent_exposure:0

cam #4
name: tracking_down
type: ar0144
bayer_type: 0
enabled: 1
camera_id: 4
camera_id_second: -1
fps: 30
en_rotate: 0
en_rotate2: 0

en_preview:          1
en_raw_preview:      1
preview_width:       1280
preview_height:      800

en_misp:             1
misp_width:          1280
misp_height:         800

en_small_video:      0
small_video_width:   -1
small_video_height:  -1

en_large_video:      0
large_video_width:   -1
large_video_height:  -1

en_snapshot:         0
snap_width:          -1
snap_height:         -1
exif_focal_length:   0.000000
exif_focal_len_35mm_format:0
exif_fnumber:        0.000000

ae_mode:             lme_msv
msv_exposure_min_us: 20
msv_exposure_max_us: 12000
gain_min           : 54
gain_max           : 8000
standby_enabled:     0
decimator:           1
independent_exposure:0

fsync_en: 1
fsync_gpio: 109

thread is locked to cores: 4 5 6 7
connected to mavlink pipe
Connected to cpu-monitor
Starting Camera: tracking_front (id #0)
gbm_create_device(156): Info: backend name is: msm_drm
Starting Camera: hires (id #1)
Estimated imu dt = 0.000977s
Starting Camera: tracking_rear (id #2)
ERROR: Received Fatal error from camera: tracking_front
ERROR: Sending request 10, ErrorCode: -ENODEV
ERROR: Received "Result" error from camera: tracking_front, frame number 4
WARNING: Thread: tracking_front request thread Received ESTOP
WARNING: Thread: tracking_front result thread Received ESTOP
WARNING: Thread: hires result thread Received ESTOP
WARNING: Thread: hires request thread Received ESTOP
MISP Initializing for camera tracking_rear
Detected 1 platform(s)
Detected 1 GPU device(s)
WARNING: OMX SetTargetBitrate: H265 CBR requires bps >= 3.0Mbit (1200000 bps provided). Using FPS hack. scale = 2.500000
Starting Camera: tof (id #3)
Starting Camera: tracking_down (id #4)
MISP Initializing for camera tracking_down
WARNING: OMX SetTargetBitrate: H265 CBR requires bps >= 3.0Mbit (1200000 bps provided). Using FPS hack. scale = 2.500000

------ voxl-camera-server: Started 5 of 5 cameras

------ voxl-camera-server: Camera server is now running

------ voxl-camera-server: Camera server is now stopping

Stats For Camera tracking_front:
Received Frame Count: 10
Request Error Count: 0
Buffer Error Count: 0
Result Error Count: 1
ERROR: Received "Result" error from camera: tracking_down, frame number 0
ERROR: Received "Buffer" error from camera: tracking_down, frame number 0
ERROR: Received Fatal error from camera: tracking_down
ERROR: Sending request 6, ErrorCode: -ENODEV
WARNING: Pushed buffers back to pools for frame: 0
WARNING: Thread: tracking_down request thread Received ESTOP
WARNING: Thread: tof result thread Received ESTOP
WARNING: Thread: tracking_rear result thread Received ESTOP
WARNING: Thread: tracking_down result thread Received ESTOP
WARNING: Thread: tracking_rear request thread Received ESTOP

Stats For Camera hires:
Received Frame Count: 6
Request Error Count: 0
Buffer Error Count: 0
Result Error Count: 0

Stats For Camera tracking_rear:
Received Frame Count: 0
Request Error Count: 0
Buffer Error Count: 0
Result Error Count: 0
WARNING: Thread: tof request thread Received ESTOP

Stats For Camera tof:
Received Frame Count: 0
Request Error Count: 0
Buffer Error Count: 0
Result Error Count: 0

Stats For Camera tracking_down:
Received Frame Count: 6
Request Error Count: 0
Buffer Error Count: 1
Result Error Count: 1

------ voxl-camera-server: Camera server exited gracefully, returning 0

IMU Manager closing and exiting
voxl2:/$

@Alex-Kushleyev Thank you for your response. I tried it with the laptop, still couldnt calibrate it, i also tried on a flat surface, still no success.

@tom This is the output

voxl2:/$ voxl-version
────────────────────────────────────────────────────────────────────────────────
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-T9-M0-X0
────────────────────────────────────────────────────────────────────────────────
voxl-suite: 1.6.2
────────────────────────────────────────────────────────────────────────────────
Packages:
Repo: http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-1.6/binary-arm64/
Last Updated: 2025-12-25 03:58:02
List:
libfc-sensor 1.0.8
libmodal-cv 0.6.0
libmodal-exposure 0.1.4
libmodal-flow 1.0.3
libmodal-journal 0.2.7
libmodal-json 0.4.8
libmodal-pipe 2.14.8
libqrb5165-io 0.5.0
libvoxl-cci-direct 0.3.3
libvoxl-codec 0.0.1
libvoxl-cutils 0.1.6
modalai-slpi 1.2.2
mv-voxl 0.1-r0
qrb5165-bind 0.1-r0
qrb5165-dfs-server 0.2.0
qrb5165-imu-server 1.2.3
qrb5165-mini-tof-server 0.2.2
qrb5165-rangefinder-server 0.1.6
qrb5165-slpi-test-sig 01-r0
qrb5165-system-tweaks 0.3.11
qrb5165-tflite 2.17.2
voxl-bind-spektrum 0.1.1
voxl-camera-calibration 0.6.1
voxl-camera-server 2.2.17
voxl-ceres-solver 2:2.0.0-2
voxl-configurator 1.0.10
voxl-cpu-monitor 0.7.4
voxl-docker-support 1.3.1
voxl-elrs 0.4.14
voxl-esc 1.5.7
voxl-feature-tracker 0.5.2
voxl-flow-server 0.3.6
voxl-gphoto2-server 0.0.10
voxl-io-server 0.0.6
voxl-jpeg-turbo 2.1.3-7
voxl-lepton-server 1.3.3
voxl-lepton-tracker 0.0.4
voxl-libgeographic 1.0.0
voxl-libgphoto2 0.0.4
voxl-libuvc 1.0.7
voxl-logger 0.6.0
voxl-mavcam-manager 0.6.0
voxl-mavlink 0.1.6
voxl-mavlink-server 1.4.12
voxl-microdds-agent 3.0.0-0
voxl-modem 1.2.2
voxl-mongoose 7.19.0
voxl-mpa-to-ros 0.3.9
voxl-mpa-to-ros2 0.0.7
voxl-mpa-tools 1.5.5
voxl-open-vins-server 0.5.7
voxl-opencv 4.5.5-3
voxl-osd 0.2.1
voxl-portal 0.8.4
voxl-px4 1.14.0-2.0.124
voxl-px4-params 0.8.11
voxl-qvio-server 1.2.2
voxl-remote-id 0.0.9
voxl-reset-slpi 0.0.1
voxl-ros2-foxy 0.0.1
voxl-state-estimator 0.0.5
voxl-streamer 0.8.0
voxl-suite 1.6.2
voxl-tag-detector 0.0.5
voxl-tflite-server 0.5.0
voxl-utils 1.4.9
voxl-uvc-server 0.1.7
voxl-vision-hub 1.9.19
voxl-vtx 1.7.6
voxl-wavemux 0.0.3
voxl2-io 0.0.3
voxl2-security-hardening-utls 1.0-r0
voxl2-system-image 1.8.06-r0
voxl2-wlan 1.0-r0
────────────────────────────────────────────────────────────────────────────────
voxl2:/$

@Moderator Thanks for your response. I think I respond to all forum posts as swiftly as possible. As a matter of fact, I think the reverse is the case, I've had situations where the technical team don't respond to messages on the forum (which I understand because they have to attend to a lot of people). Anyways I have responded to pending messages prior to the break, and will respond to the calibration issue tomorrow when I get access to the drone. I really do hope I can get the drones working perfectly soonest.

Thanks,
Taiwo

@Moderator Thank you for your response. I have gone through the documentation several times. Even with that, I can't tell why I get those preflight check fails. Sometimes it clears, most times, I keep getting several warnings. I will go over the documentation again, maybe I am missing something.

For instance, why do I have a cpu usage when the voxl-modem isnt running? or is that normal
?

Regards,
Taiwo