@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

@Alex-Kushleyev Thank you for the response. After fresh reboot the camera pipes functions for a little while and stops immediately (I can see it in voxl-portal, then they keep disappearing until i am left with tag_overlay and multi-view

Hello support,
We have five starling 2 drones in our research lab, among which two of the drones has been sent in for RMA, another two drones has been giving issues. In summary, we haven't been able to use the drones for research purposes (we have had the drones for a year). At this point, my advisor wants to get on a call with the technical team so as to know what really the issues are, and how they can be solved once and for all.

Can we get on a call sometime early in December?

Looking forward to your swift response.

Regards,
Taiwo

Hello.

This is a new starling 2 drone. I am trying to calibrate the cameras, but it seems difficult. When chess board is placed inside rectangle, the rectangles doesn't fill most times, sometimes, i get detections, sometimes i don't. It took several minutes to get a 40% collection rate. Is the calibration supposed to be this difficult? or is there a technique to this? I have seen the video on the documentation website for this, and it was seamlessly easy. Please let me know if I am doing it wrongly?

Expecting your response soon. Thanks.

Hello Support,

Can anyone kindly look into this please?

I tried it accessing the cameras today from the voxl portal, it showed live footage at first, then it crashed. Can you kindly assist.

Thanks

@Alex-Kushleyev Thank you for your response. Sorry I have been away for exams. I took the drone outside to be sure it was not because of lightning. After refocusing the tracking front camera lens, i realized that when the checkerboard was moved to the sides, and also towards the top and bottom of the camera, the images were sharp, but when it was moved directly in front of the camera, it became blurry. I inspected the Lens physically and cant seem to find any damage. I have attached the images so that you can better grasp what I mean. Thanks.

HI, I am trying to calibrate my starling 2 drone cameras, but I realized I cant access my cameras from the voxl-portal. On voxl portal, I can see the list of camera pipes, but if I select any one if them, I dont get a footage. I have attached screenshots to make you understand what I mean better. I dont know mcuh about this, could you please point me in the right direction? How can I get it working


Hi modal AI support,

I am trying to calibrate my starling 2 drone camera using openCV 6x8 chessboard (I used this command " voxl-calibrate-camera tracking_front -f -s 6x8 -l 0.038". I think my camera lens might be dull, I have a starling 2 Lens Focus Tool, but I can't find any resource to help me adjust the focus. I have attached an image of me me trying to calibrate the camera so that you clearly understand what I am trying to say. From the first image, you can see how blurry the chessboard is, In the second image, you can see that the chessboard is barely showing when the chessboard was moved inside the rectangle. The third image are what I saw in the starling 2 Lens Focus Tool.

Kindly assist.

Thanks,
Taiwo

Hi support,

I am a PhD student, and I am very new to robotics. We have 4 starling 2 drones in the lab, and right now, I have two of those drones being prepared for RMA. The drones keeps getting damaged because I don't have the right knowledge about drones. I looked up the technical documentations online, but there are still so many things I don't know. For instance, one of my drone crashed when i toggled the switch to hold mode (and it hasn't done that ever since I got it),it shot straight up very fast. I keep getting height estimate not stable (I don't even know what to do to fix that error). Also, the last working drone also drifts around when you toggle the controller to hold (the middle position). At this point, I cant even fly the drones because I might crash them again. And eventually I will get in trouble with these. Can you help with documentations that will make a beginner get all the necessary knowledge. Right now, I am just working on the drone blindly. I will be grateful if you can help with the situation.

Thanks,
Taiwo

@Eric-Katzfey No, the propellers are well positioned (that was the first thing i checked). I compared the drone with another starling 2 drone during arming, the drone not flying (the one i am trying to get fixed) makes more noise, as if the propellers are spinning with higher power while the other drone (the good one) doesnt make as much noise. Also, a point to note, the drone has been working fine since may 2025, up until two weeks ago, so I don't know what might have caused this.

@Eric-Katzfey this is the link https://nam02.safelinks.protection.outlook.com/?url=https%3A%2F%2Freview.px4.io%2Fplot_app%3Flog%3D279179dd-82e9-40f9-a09d-59d793ac34e0&data=05|02|thazeez2024%40fau.edu|3bfe3b5f99cc4a819a7708de21fe6020|63c3c9c1e824413fb4352f0cabb2828f|0|0|638985573747064624|Unknown|TWFpbGZsb3d8eyJFbXB0eU1hcGkiOnRydWUsIlYiOiIwLjAuMDAwMCIsIlAiOiJXaW4zMiIsIkFOIjoiTWFpbCIsIldUIjoyfQ%3D%3D|60000|||&sdata=CBUPqljeTJLLDWFBug33%2BjhanXLhKVMV0GVnCfanLF0%3D&reserved=0

@Eric-Katzfey HI, I have attached a flight log.

Thanks!