MIPI is the physical connection to the VOXL2 board. So, yes, the "normal hires camera" is connected via mipi instead of USB. I'm trying to help you debug this. Normally, when something doesn't work, you try to narrow down the issue by trying some carefully thought out variations to see what works and what doesn't. That can determine the part that is not working. For example, if you have USB camera -> voxl-uvc-server -> voxl-streamer -> Microhard -> VLC and that is showing problems and then you switch to a stream with MIPI camera -> voxl-camera-server -> voxl-streamer -> Microhard -> VLC and that doesn't have problems then it's logical to focus on the USB camera -> voxl-uvc-server part of the pipeline as the problematic part. In your first post you mention QGC stream works and then in your last reply you said you did not test with QGC so that is confusing. And I'm not sure what your end goal is. In the first post you say "Please help to stream live video from the lepton camera through the microhard board." Then you say that it is working from ffplay. So, is that okay now? Or is ffplay not an acceptable solution for you?