TOF Sensor Not Working on ModalAI Starling 2 Drone

[SatwikChappidi]

Hello everyone,

I’m having an issue with the TOF sensor on my Starling 2 drone. The sensor appears to be detected, but it consistently fails to start in voxl-camera-server. Here’s what I see in the logs when I run:

journalctl -u voxl-camera-server

Starting Camera: tof (id #3)
ERROR:   Camera 3 failed to find supported preview config: 240x1629
WARNING: Failed to start cam tof due to invalid resolution
WARNING: assuming cam is missing and trying to compensate

Below is the relevant config for the TOF sensor:

cam #3
    name:                tof
    sensor type:         pmd-tof-liow2
    isEnabled:           1
    camId:               3
    camId2:              -1
    fps:                 10
    en_rotate:           1
    en_rotate2:          0
    en_preview:          1
    pre_width:           240
    pre_height:          1629
    en_raw_preview:      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
    standby_enabled:     0
    decimator:           5
    independent_exposure:0

I tried resetting the camera configuration to the default (config 27), but the issue persists. The M0177 flex connector also appears fine on both ends, so I don’t suspect any obvious physical damage.

I found this forum post describing a similar issue, but I haven’t been able to solve my problem using the information there.

Has anyone else encountered this resolution error (240x1629) or have any insights on getting the TOF sensor to work correctly on the Starling 2? Any tips or troubleshooting steps would be greatly appreciated.

Thank you!