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    Starling 2: TOF sensor not recognized by VOXL Portal

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    • H
      hgutier
      last edited by

      Hello - I'm having an issue in which the TOF sensor in a Starling-2 is not recognized by VOXL Portal, even though the sensor looks perfectly fine and the connections and cable look fine at visual inspection. I've tried connecting and disconnecting the sensor, and enabling/disabling the cameras one by one, but no luck. After some troubleshooting it seems the issue may be with the camera board. Please advise on how to proceed. Starling-2 was purchased on February 2025 and TOF sensor has not been previously used. Thanks, Hector Gutierrez

      Alex KushleyevA 1 Reply Last reply Reply Quote 0
      • Alex KushleyevA
        Alex Kushleyev ModalAI Team @hgutier
        last edited by Alex Kushleyev

        Hello @hgutier ,

        Can you please provide output of voxl-camera-server -l, which will scan all the connected cameras? You can just list the top part, something like this (just an example). Please note that this command will stop the background camera server service, if it's running, which can be restarted using systemctl start voxl-camera-server or just rebooting voxl2.

         voxl-camera-server -l
DEBUG:   Attempting to open the hal module
DEBUG:   SUCCESS: Camera module opened on attempt 0
DEBUG:   ----------- Number of cameras: 3

DEBUG:   Cam idx: 0, Cam slot: 0, Slave Address: 0x0020, Sensor Id: 0x0214
DEBUG:   Cam idx: 1, Cam slot: 1, Slave Address: 0x0030, Sensor Id: 0x0356
DEBUG:   Cam idx: 2, Cam slot: 2, Slave Address: 0x0034, Sensor Id: 0x0077

        Also, please list the following contents:

        ls /usr/lib/camera/*sensormodule*

        We will just double check that the software is set up correctly to use the TOF module.

        Thank you

        Alex

        Hector GutierrezH 1 Reply Last reply Reply Quote 0
        • Hector GutierrezH
          Hector Gutierrez @Alex Kushleyev
          last edited by

          @Alex-Kushleyev

          Hi Alex - apologies for the long delay. Here is the output I get from voxl-camera-server -l :

          voxl2:/$ voxl-camera-server -l
          DEBUG: Attempting to open the hal module
          DEBUG: SUCCESS: Camera module opened on attempt 0
          DEBUG: ----------- Number of cameras: 0
          DEBUG: Note: This list comes from the HAL module and may not be indicative
          DEBUG: of configurations that have full pipelines
          DEBUG: Number of cameras: 0

          In other words, my drone does not see any cameras at all. The same shows when running VOXL portal (zero cameras).
          I just run apt update && apt upgrade successfully in this drone.

          The other command you mentioned gives the following output:
          voxl2:/$ ls /usr/lib/camera/sensormodule
          /usr/lib/camera/com.qti.sensormodule.imx412_2.bin /usr/lib/camera/com.qti.sensormodule.imx412_3.bin

          Please advise - something is really wrong here since I cant see any of my cameras. My Starling 2 has the camera configuration C27 (triple tracking)
          Thanks, Hector

          Alex KushleyevA 1 Reply Last reply Reply Quote 0
          • Alex KushleyevA
            Alex Kushleyev ModalAI Team @Hector Gutierrez
            last edited by Alex Kushleyev

            @Hector-Gutierrez , since you have a standard camera configuration, you should run the following command to configure your VOXL2 for C27:

            voxl-configure-cameras 27

            This command should copy the correct sensormodule files to /usr/lib/camera and set up a default config in /etc/modalai/voxl-camera-server.conf for this camera arrangement.

            Alex

            Hector GutierrezH 1 Reply Last reply Reply Quote 0
            • Hector GutierrezH
              Hector Gutierrez @Alex Kushleyev
              last edited by

              @Alex-Kushleyev

              Thanks. The output of voxl-camera-server -l is shown below, but it seems generic. Several issues remain:

              • voxl-camera-server detected 4 cameras, but my drone has 5

              • when opening voxl portal, zero cameras are detected. Also, the IMU plotter runs but gives empty plots.

              Please let me know what to try next - it does seem like a hardware problem.

              Thanks - Regards, Hector

              voxl2:/$ voxl-camera-server -l
              DEBUG: Attempting to open the hal module
              DEBUG: SUCCESS: Camera module opened on attempt 0
              DEBUG: ----------- Number of cameras: 4
              DEBUG: Cam idx: 0, Cam slot: 0, Slave Address: 0x0030, Sensor Id: 0x0356
              DEBUG: Cam idx: 1, Cam slot: 1, Slave Address: 0x0034, Sensor Id: 0x0577
              DEBUG: Cam idx: 2, Cam slot: 2, Slave Address: 0x0030, Sensor Id: 0x0356
              DEBUG: Cam idx: 3, Cam slot: 6, Slave Address: 0x0030, Sensor Id: 0x0356
              DEBUG: Note: This list comes from the HAL module and may not be indicative
              DEBUG: of configurations that have full pipelines
              DEBUG: Number of cameras: 4

              Stats for camera: 0

              ANDROID_SCALER_AVAILABLE_RAW_SIZES:
              These are likely supported by the sensor
              1280 x 800
              1280 x 800
              ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
              These are NOT necessarily supported by the sensor
              1280 x 800 HAL_PIXEL_FORMAT_YCbCr_420_888
              1280 x 800 HAL_PIXEL_FORMAT_BLOB
              1280 x 768 HAL_PIXEL_FORMAT_YCbCr_420_888
              1280 x 768 HAL_PIXEL_FORMAT_BLOB
              1280 x 720 HAL_PIXEL_FORMAT_YCbCr_420_888
              1280 x 720 HAL_PIXEL_FORMAT_BLOB
              1024 x 738 HAL_PIXEL_FORMAT_YCbCr_420_888
              1024 x 738 HAL_PIXEL_FORMAT_BLOB
              1024 x 768 HAL_PIXEL_FORMAT_YCbCr_420_888
              1024 x 768 HAL_PIXEL_FORMAT_BLOB
              864 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
              864 x 480 HAL_PIXEL_FORMAT_BLOB
              800 x 600 HAL_PIXEL_FORMAT_YCbCr_420_888
              800 x 600 HAL_PIXEL_FORMAT_BLOB
              800 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
              800 x 480 HAL_PIXEL_FORMAT_BLOB
              720 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
              720 x 480 HAL_PIXEL_FORMAT_BLOB
              640 x 512 HAL_PIXEL_FORMAT_YCbCr_420_888
              640 x 512 HAL_PIXEL_FORMAT_BLOB
              640 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
              640 x 480 HAL_PIXEL_FORMAT_BLOB
              640 x 400 HAL_PIXEL_FORMAT_YCbCr_420_888
              640 x 400 HAL_PIXEL_FORMAT_BLOB
              640 x 360 HAL_PIXEL_FORMAT_YCbCr_420_888
              640 x 360 HAL_PIXEL_FORMAT_BLOB
              352 x 288 HAL_PIXEL_FORMAT_YCbCr_420_888
              352 x 288 HAL_PIXEL_FORMAT_BLOB
              320 x 240 HAL_PIXEL_FORMAT_YCbCr_420_888
              320 x 240 HAL_PIXEL_FORMAT_BLOB
              240 x 320 HAL_PIXEL_FORMAT_YCbCr_420_888
              240 x 320 HAL_PIXEL_FORMAT_BLOB
              176 x 144 HAL_PIXEL_FORMAT_YCbCr_420_888
              176 x 144 HAL_PIXEL_FORMAT_BLOB
              1280 x 800 HAL_PIXEL_FORMAT_RAW10
              1280 x 800 HAL_PIXEL_FORMAT_RAW12
              1280 x 800 HAL_PIXEL_FORMAT_RAW16
              1280 x 800 HAL_PIXEL_FORMAT_RAW_OPAQUE

              ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
              min = 54
              max = 1596

              ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
              1596

              ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
              min = 0ns
              max = 1318629735ns

              ====================================
              Stats for camera: 1

              ANDROID_SCALER_AVAILABLE_RAW_SIZES:
              These are likely supported by the sensor
              4056 x 3040
              3840 x 2160
              1920 x 1080
              1920 x 1080
              1920 x 1080
              1280 x 720
              1280 x 720

              ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
              These are NOT necessarily supported by the sensor
              4056 x 3040 HAL_PIXEL_FORMAT_YCbCr_420_888
              4056 x 3040 HAL_PIXEL_FORMAT_BLOB
              4000 x 3000 HAL_PIXEL_FORMAT_YCbCr_420_888
              4000 x 3000 HAL_PIXEL_FORMAT_BLOB
              3840 x 2160 HAL_PIXEL_FORMAT_YCbCr_420_888
              3840 x 2160 HAL_PIXEL_FORMAT_BLOB
              3264 x 2448 HAL_PIXEL_FORMAT_YCbCr_420_888
              3264 x 2448 HAL_PIXEL_FORMAT_BLOB
              3200 x 2400 HAL_PIXEL_FORMAT_YCbCr_420_888
              3200 x 2400 HAL_PIXEL_FORMAT_BLOB
              2976 x 2976 HAL_PIXEL_FORMAT_YCbCr_420_888
              2976 x 2976 HAL_PIXEL_FORMAT_BLOB
              2688 x 1512 HAL_PIXEL_FORMAT_YCbCr_420_888
              2688 x 1512 HAL_PIXEL_FORMAT_BLOB
              2592 x 1944 HAL_PIXEL_FORMAT_YCbCr_420_888
              2592 x 1944 HAL_PIXEL_FORMAT_BLOB
              2048 x 1536 HAL_PIXEL_FORMAT_YCbCr_420_888
              2048 x 1536 HAL_PIXEL_FORMAT_BLOB
              1920 x 1440 HAL_PIXEL_FORMAT_YCbCr_420_888
              1920 x 1440 HAL_PIXEL_FORMAT_BLOB
              1928 x 1208 HAL_PIXEL_FORMAT_YCbCr_420_888
              1928 x 1208 HAL_PIXEL_FORMAT_BLOB
              1920 x 1080 HAL_PIXEL_FORMAT_YCbCr_420_888
              1920 x 1080 HAL_PIXEL_FORMAT_BLOB
              1600 x 1200 HAL_PIXEL_FORMAT_YCbCr_420_888
              1600 x 1200 HAL_PIXEL_FORMAT_BLOB
              1440 x 1080 HAL_PIXEL_FORMAT_YCbCr_420_888
              1440 x 1080 HAL_PIXEL_FORMAT_BLOB
              1280 x 960 HAL_PIXEL_FORMAT_YCbCr_420_888
              1280 x 960 HAL_PIXEL_FORMAT_BLOB
              1280 x 800 HAL_PIXEL_FORMAT_YCbCr_420_888
              1280 x 800 HAL_PIXEL_FORMAT_BLOB
              1280 x 768 HAL_PIXEL_FORMAT_YCbCr_420_888
              1280 x 768 HAL_PIXEL_FORMAT_BLOB
              1280 x 720 HAL_PIXEL_FORMAT_YCbCr_420_888
              1280 x 720 HAL_PIXEL_FORMAT_BLOB
              1080 x 1080 HAL_PIXEL_FORMAT_YCbCr_420_888
              1080 x 1080 HAL_PIXEL_FORMAT_BLOB
              1024 x 738 HAL_PIXEL_FORMAT_YCbCr_420_888
              1024 x 738 HAL_PIXEL_FORMAT_BLOB
              1024 x 768 HAL_PIXEL_FORMAT_YCbCr_420_888
              1024 x 768 HAL_PIXEL_FORMAT_BLOB
              864 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
              864 x 480 HAL_PIXEL_FORMAT_BLOB
              800 x 600 HAL_PIXEL_FORMAT_YCbCr_420_888
              800 x 600 HAL_PIXEL_FORMAT_BLOB
              800 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
              800 x 480 HAL_PIXEL_FORMAT_BLOB
              720 x 1280 HAL_PIXEL_FORMAT_YCbCr_420_888
              720 x 1280 HAL_PIXEL_FORMAT_BLOB
              720 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
              720 x 480 HAL_PIXEL_FORMAT_BLOB
              640 x 512 HAL_PIXEL_FORMAT_YCbCr_420_888
              640 x 512 HAL_PIXEL_FORMAT_BLOB
              640 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
              640 x 480 HAL_PIXEL_FORMAT_BLOB
              640 x 400 HAL_PIXEL_FORMAT_YCbCr_420_888
              640 x 400 HAL_PIXEL_FORMAT_BLOB
              640 x 360 HAL_PIXEL_FORMAT_YCbCr_420_888
              640 x 360 HAL_PIXEL_FORMAT_BLOB
              352 x 288 HAL_PIXEL_FORMAT_YCbCr_420_888
              352 x 288 HAL_PIXEL_FORMAT_BLOB
              320 x 240 HAL_PIXEL_FORMAT_YCbCr_420_888
              320 x 240 HAL_PIXEL_FORMAT_BLOB
              240 x 320 HAL_PIXEL_FORMAT_YCbCr_420_888
              240 x 320 HAL_PIXEL_FORMAT_BLOB
              176 x 144 HAL_PIXEL_FORMAT_YCbCr_420_888
              176 x 144 HAL_PIXEL_FORMAT_BLOB
              4056 x 3040 HAL_PIXEL_FORMAT_RAW10
              4056 x 3040 HAL_PIXEL_FORMAT_RAW12
              4056 x 3040 HAL_PIXEL_FORMAT_RAW16
              4056 x 3040 HAL_PIXEL_FORMAT_RAW_OPAQUE
              3840 x 2160 HAL_PIXEL_FORMAT_RAW10
              3840 x 2160 HAL_PIXEL_FORMAT_RAW12
              3840 x 2160 HAL_PIXEL_FORMAT_RAW16
              3840 x 2160 HAL_PIXEL_FORMAT_RAW_OPAQUE
              1920 x 1080 HAL_PIXEL_FORMAT_RAW10
              1920 x 1080 HAL_PIXEL_FORMAT_RAW12
              1920 x 1080 HAL_PIXEL_FORMAT_RAW16
              1920 x 1080 HAL_PIXEL_FORMAT_RAW_OPAQUE

              ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
              min = 100
              max = 35200

              ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
              2200

              ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
              min = 0ns
              max = 243753000ns

              ====================================
              Stats for camera: 2

              ANDROID_SCALER_AVAILABLE_RAW_SIZES:
              These are likely supported by the sensor
              1280 x 800
              1280 x 800

              ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
              These are NOT necessarily supported by the sensor
              1280 x 800 HAL_PIXEL_FORMAT_YCbCr_420_888
              1280 x 800 HAL_PIXEL_FORMAT_BLOB
              1280 x 768 HAL_PIXEL_FORMAT_YCbCr_420_888
              1280 x 768 HAL_PIXEL_FORMAT_BLOB
              1280 x 720 HAL_PIXEL_FORMAT_YCbCr_420_888
              1280 x 720 HAL_PIXEL_FORMAT_BLOB
              1024 x 738 HAL_PIXEL_FORMAT_YCbCr_420_888
              1024 x 738 HAL_PIXEL_FORMAT_BLOB
              1024 x 768 HAL_PIXEL_FORMAT_YCbCr_420_888
              1024 x 768 HAL_PIXEL_FORMAT_BLOB
              864 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
              864 x 480 HAL_PIXEL_FORMAT_BLOB
              800 x 600 HAL_PIXEL_FORMAT_YCbCr_420_888
              800 x 600 HAL_PIXEL_FORMAT_BLOB
              800 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
              800 x 480 HAL_PIXEL_FORMAT_BLOB
              720 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
              720 x 480 HAL_PIXEL_FORMAT_BLOB
              640 x 512 HAL_PIXEL_FORMAT_YCbCr_420_888
              640 x 512 HAL_PIXEL_FORMAT_BLOB
              640 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
              640 x 480 HAL_PIXEL_FORMAT_BLOB
              640 x 400 HAL_PIXEL_FORMAT_YCbCr_420_888
              640 x 400 HAL_PIXEL_FORMAT_BLOB
              640 x 360 HAL_PIXEL_FORMAT_YCbCr_420_888
              640 x 360 HAL_PIXEL_FORMAT_BLOB
              352 x 288 HAL_PIXEL_FORMAT_YCbCr_420_888
              352 x 288 HAL_PIXEL_FORMAT_BLOB
              320 x 240 HAL_PIXEL_FORMAT_YCbCr_420_888
              320 x 240 HAL_PIXEL_FORMAT_BLOB
              240 x 320 HAL_PIXEL_FORMAT_YCbCr_420_888
              240 x 320 HAL_PIXEL_FORMAT_BLOB
              176 x 144 HAL_PIXEL_FORMAT_YCbCr_420_888
              176 x 144 HAL_PIXEL_FORMAT_BLOB
              1280 x 800 HAL_PIXEL_FORMAT_RAW10
              1280 x 800 HAL_PIXEL_FORMAT_RAW12
              1280 x 800 HAL_PIXEL_FORMAT_RAW16
              1280 x 800 HAL_PIXEL_FORMAT_RAW_OPAQUE

              ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
              min = 54
              max = 1596

              ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
              1596

              ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
              min = 0ns
              max = 1318629735ns

              ====================================
              Stats for camera: 3

              ANDROID_SCALER_AVAILABLE_RAW_SIZES:
              These are likely supported by the sensor
              1280 x 800
              1280 x 800

              ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
              These are NOT necessarily supported by the sensor
              1280 x 800 HAL_PIXEL_FORMAT_YCbCr_420_888
              1280 x 800 HAL_PIXEL_FORMAT_BLOB
              1280 x 768 HAL_PIXEL_FORMAT_YCbCr_420_888
              1280 x 768 HAL_PIXEL_FORMAT_BLOB
              1280 x 720 HAL_PIXEL_FORMAT_YCbCr_420_888
              1280 x 720 HAL_PIXEL_FORMAT_BLOB
              1024 x 738 HAL_PIXEL_FORMAT_YCbCr_420_888
              1024 x 738 HAL_PIXEL_FORMAT_BLOB
              1024 x 768 HAL_PIXEL_FORMAT_YCbCr_420_888
              1024 x 768 HAL_PIXEL_FORMAT_BLOB
              864 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
              864 x 480 HAL_PIXEL_FORMAT_BLOB
              800 x 600 HAL_PIXEL_FORMAT_YCbCr_420_888
              800 x 600 HAL_PIXEL_FORMAT_BLOB
              800 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
              800 x 480 HAL_PIXEL_FORMAT_BLOB
              720 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
              720 x 480 HAL_PIXEL_FORMAT_BLOB
              640 x 512 HAL_PIXEL_FORMAT_YCbCr_420_888
              640 x 512 HAL_PIXEL_FORMAT_BLOB
              640 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
              640 x 480 HAL_PIXEL_FORMAT_BLOB
              640 x 400 HAL_PIXEL_FORMAT_YCbCr_420_888
              640 x 400 HAL_PIXEL_FORMAT_BLOB
              640 x 360 HAL_PIXEL_FORMAT_YCbCr_420_888
              640 x 360 HAL_PIXEL_FORMAT_BLOB
              352 x 288 HAL_PIXEL_FORMAT_YCbCr_420_888
              352 x 288 HAL_PIXEL_
              FORMAT_BLOB
              320 x 240 HAL_PIXEL_FORMAT_YCbCr_420_888
              320 x 240 HAL_PIXEL_FORMAT_BLOB
              240 x 320 HAL_PIXEL_FORMAT_YCbCr_420_888
              240 x 320 HAL_PIXEL_FORMAT_BLOB
              176 x 144 HAL_PIXEL_FORMAT_YCbCr_420_888
              176 x 144 HAL_PIXEL_FORMAT_BLOB
              1280 x 800 HAL_PIXEL_FORMAT_RAW10
              1280 x 800 HAL_PIXEL_FORMAT_RAW12
              1280 x 800 HAL_PIXEL_FORMAT_RAW16
              1280 x 800 HAL_PIXEL_FORMAT_RAW_OPAQUE

              ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
              min = 54
              max = 1596

              ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
              1596

              ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
              min = 0ns
              max = 1318629735ns

              ====================================
              Number of cameras detected: 4

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