ModalAI Forum

@wilkinsaf You can disable compass with SYS_HAS_MAG = 0 and EKF2_MAG_TYPE = 5. But if you enable it and it isn't healthy you won't be able to arm. Power compensation may work, it depends on your particular drone model and use case.

Update fix Replace defaults.parm with upstream version: https://github.com/ArduPilot/ardupilot/blob/ee1e4bbf74061760826b17464383d63c1a11924c/Tools/Frame_params/ModalAI/Starling2Max.parm Rename Starling2Max.parm to defaults.parm in /data/APM Edit SERIAL3_BAUD=9 (in defaults.parm) Edit GPS1_TYPE=2 (in defaults.parm) Remove *.stg files in /data/APM Reboot and power off the voxl2 multiple times, checking the gps driver

@tom Thank you @tom

Choose Option 1 if you DO NOT have the camera board attached [image: 1758735212722-d9a9defd-3783-452a-a735-7cb2c38d7065-image.png] Choose Option 2 if you are using the camera board [image: 1758735235936-3a551368-4c35-4edd-8f0d-09b2f6cd47da-image.png]

@tom [image: giphy.gif]

@wilkinsaf Yes this is definitely possible You would need to modify flow-server and possibly feature-tracker to ensure this is pointed at the right pipe Might also need a bit of calibration here and there Have not tested having multiple versions of flow-server, but should be possible. Would need to ensure this works with a downard facing tof for accurate height estimate To get a rough draft of this working, would take ~2 days

From James (the guy who set the parameter) feel free to increase it. Starling 2 Max has a very high power to weight ratio so I artificially calmed it down by limiting throttle

@wilkinsaf yes unfortunately Gremsy doesn't sell one as of right now and I probably misunderstood your message that said "something is in the works" I though Modal AI working on developing one. Thank you

@Alex-Kushleyev , thank you for the insights! I will try the basic version and see if it suits our industrial solution on field. If it fits I ask for the full version. Regards, Jacob

@h3robotics , Yes you should be able to test the Hadron on J8 using the instructions from the docs page (https://docs.modalai.com/voxl2-hadron/) -- just make sure you use Boson sensormodule 4 and ov64b sensormodule 5 (and camera IDs will still be 0 and 1 respectively, if there are no other cameras attached / detected). At this point you do not need to build a custom kernel, just need to use kernel variant 1 because it enables independent camera support on J8 which is needed for Hadron. Please note that you would not be able to use our standard ucoax camera on J8U because the camera reset signal is still not correctly patched through to J8 (which would require a kernel modificaiton). But in Hadron use case, camera reset is not used (both the IR and RGB camera are always on, so it happens to work out ). I agree, it may be more convenient for you to switch to using the M0173 camera front end, so you can use a single kernel variant and also this would be a more future-proof approach. Alex

@wilkinsaf , IMX327 no, but IMX664 maybe I think IMX664 is close to or better than IMX327 for low light, what do you think? Alex

@James-Strawson This is perfect! Thank you James!

maybe voxl-replay....

@wilkinsaf , yes, you got it. By the way, you did not have to restore the old firmware, you could have just done this: ./voxl-esc-upload-firmware.py --firmware-baud-rate 57600 -f firmware/modalai_esc_firmware_m0117_1_v0_39_RC10_eb6fb500.bin --id 0 The following note does not really help, if you also have power connected to VOXL2.. WARNING: Specified ESC ID not detected; perform manual power cycle now However, if the ESC is connected to a PC, you can just power cycle the ESC and the the bootloader will start up and firmware update will being. Alex