I have uploaded the latest ar0144 drivers with fsin versions for all camera slots here : https://storage.googleapis.com/modalai_public/temp/ar0144/ar0144_drivers_20260402.zip

There are two additional files (inside the zip), which you should copy to /usr/lib/camera to make sure you have the latest updates:

com.qti.sensor.ar0144.so -- contains functions for exposure / gain control (we recently made some improvements to make gain control smoother) com.qti.tuned.default.bin -- fixed gain scaling so that min gain (1.0x analog gain) is equal to 100 in the HAL3 gain units, not 54 (and the max gain will be 29.6 = 29600 for AR0144) -- you can also double check this using voxl-camera-server -l and update the min/max gain settings in your voxl-camera-server.conf to make sure you are using the full range.

My colleague will follow up with a diagram for locations of the DNI resistors that need to be installed to enable sync signal for camera slots 1 and 3 (0402 0-ohm resistor)

Alex

@minhthinh The params are in our voxl-px4-params repo. For example: https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-px4-params/-/blob/master/params/v1.13/Platforms/M500_FCV2.params?ref_type=heads

@qt , there is a "decimator" param, which reduces the TOF fps in standby mode (when drone is not flying) in order to reduce the cpu usage, since the TOF processing software can use substantial cpu depending on the FPS. https://docs.modalai.com/voxl-camera-server/#camera-server-config-file

in your case, the decimator is set to 5, but i also see that "standby enabled" is set to false, so perhaps there is a bug that still applies the fps decimation.

Can you please try setting the decimator to 1 and see if that resolves your issue and we will double check if the standby_enabled parameter is not working correctly.

Alex

@SKA ,

Most of the supported cameras (except for Boson, Hadron) have their reset signal connected to VOXL2, so when the cameras are not in use, they are shut down via the reset pin. This means that the camera modules may still get power, but they are shut down.

There are many power rails and interposers - some power rails remain on all the time (5.0, 3.8V) and others may be shut down by PMIC when not in use. Different cameras use different power rails for their operation, so it is hard to answer this question without knowing the specific use case.

Alex

Hello @Igor ,

After a quick look your concerns seem valid to me. We will investigate this further and get back to you soon.

Thank you for reporting the issue.

Alex

Hi @Nikola-Rudjer ,

The forum is for technical support -- for sales questions, please reach out to us via https://www.modalai.com/pages/contact-us

Alex

Adding onto this, is there a way to get the server to log out which operations/how many operations were delegated to the CPU? I believe its something that the tflite interpreter can spit out and would be super useful when trying to figure out why a model isnt loading correctly.

@Aniruddha , we currently do not have an option to order this via our online shop, but you have some other options:

email us using contact form and request a custom order of those parts : https://www.modalai.com/pages/contact-us download the CAD model (https://developer.modalai.com/asset) and 3D print the part(s) yourself or order them to be printed. We use MJF material for these parts.

Sorry for the inconvenience. We will look into making the spare part ordering process easier.

Alex

@Myles-Levine , the VOXL2 SoC is not designed to run at full power for a long time without cooling.

The maximum operating temperature is around 95 deg C, at which point, the CPU will being automatically throttling (reducing) operating frequency.

It is common to rely on air flow from propellers when the drone is flying, however some implementations may have a small fan as well.

Since you mentioned bench testing, installing a small fan next to VOXL2 to get airflow over the board should help. No specific recommendations, you can start with a standard 12V fan used in PC power supplies.

It can be relatively easy to overheat VOXL2 without cooling, because it has quite a powerful processor and the heat is concentrated in such a small package. You can spend more time optimizing the code (if possible) or add passive and / or active cooling.

Alex