@Jetson-Nano , 60C is not an issue for embedded devices (throttling limit is around 95C, at which point the CPU will start reducing frequency to avoid overheating).
However, you mention that the temperature can reach 90C. Please note that the camera server itself most likely is not the main cause of the CPU temperature, but the consumers of the image frames may be using significant CPU.
You should identify the main causes of temperature rise by looking at output of top to see rough cpu usage of each process, but also try disabling mapper or openvins or hires image processing (if any).
Also, without any cooling, it is not a surprise that VOXL2 could overheat if its cpu / gpu load is very high. The SoC cannot run without cooling at full power. Airflow during flight usually provides significant cooling and you can manage the system load when not in flight or add cooling for stationary use cases (lack of air flow from propellers),
Alex
