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    Starling 2: TOF sensor not recognized by VOXL Portal

    Starling & Starling 2
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    • 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

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

              @Hector-Gutierrez ,

              When you were looking for cameras in voxl-portal - was the voxl-camera-server actually running? you need to make sure that it's running (either as a background service, which normally starts up using systemd right after boot, or manually if you are running the camera server in a terminal in the foreground).

              It does look like the 3 AR0144 and 1 IMX412 were detected, so lets first make sure you can view those corresponding streams first.

              Alex

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

                @Alex-Kushleyev

                Yes, voxl-camera-server was running. In fact I stopped it and started it again to be sure it was running.
                I also checked with voxl-inspect-services and it showed the camera server was running. And yet I cannot open any of the cameras on voxl Portal - the portal starts properly but there are no cameras. And also the IMU plots look empty.
                And the ToF sensor is not being detected ...
                Please let me know what to try next.

                Thanks, Hector

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

                  @Hector-Gutierrez , with the voxl-camera-server running on the foreground, please run the following and monitor the output of voxl-camera-server as well:

                  voxl-inspect-cam -a

                  This test should connect to ALL the camera streams generated by the voxl-camera-server and print out the stats.

                  Alex

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

                    @Alex-Kushleyev
                    Thanks for the prompt reply. I receive the following output:
                    Pipe Name | bytes | wide | hgt |exp(ms)| gain | frame id |latency(ms)| fps | mbpt
                    | hires_large_color |18495360 | 4056 | 3040 | 16.67 | 747 | 1880 | 93.2 | 30.0 | 44422
                    | hires_large_encoded | 2064 | 4056 | 3040 | 16.67 | 747 | 1879 | 100.0 | 30.0 | 0
                    | hires_large_grey |12330240 | 4056 | 3040 | 16.67 | 747 | 1880 | 72.2 | 30.0 | 29618
                    | hires_small_color | 1179648 | 1024 | 768 | 16.67 | 747 | 1880 | 50.4 | 30.0 | 2832
                    | hires_small_encoded | 256 | 1024 | 768 | 16.67 | 747 | 1880 | 61.6 | 30.0 | 0
                    | hires_small_grey | 786432 | 1024 | 768 | 16.67 | 747 | 1881 | 48.4 | 30.0 | 1888
                    | hires_snapshot |
                    | ov_overlay | 3235840 | 1280 | 2528 | 6.81 | 614 | 1640 | 84.2 | 4.7 | 1228
                    | tracking_down | 1024000 | 1280 | 800 | 6.90 | 614 | 1647 | 34.1 | 30.0 | 2458
                    | tracking_down_bayer | 1024000 | 1280 | 800 | 6.90 | 614 | 1647 | 33.7 | 30.0 | 2458
                    | tracking_down_misp_grey | 1024000 | 1280 | 800 | 6.73 | 570 | 1648 | 33.3 | 30.0 | 2458
                    | tracking_down_misp_norm | 1024000 | 1280 | 800 | 6.73 | 570 | 1648 | 36.3 | 30.0 | 2458
                    | tracking_front | 1024000 | 1280 | 800 | 5.63 | 307 | 1648 | 33.5 | 30.0 | 2458
                    | tracking_front_bayer | 1024000 | 1280 | 800 | 5.63 | 307 | 1648 | 33.7 | 30.0 | 2458
                    | tracking_front_misp_grey | 1024000 | 1280 | 800 | 5.63 | 307 | 1648 | 30.2 | 30.0 | 2458
                    | tracking_front_misp_norm | 1024000 | 1280 | 800 | 5.63 | 307 | 1648 | 35.5 | 30.0 | 2458
                    | tracking_rear | 1024000 | 1280 | 800 | 5.32 | 192 | 1649 | 33.9 | 30.0 | 2458
                    | tracking_rear_bayer | 1024000 | 1280 | 800 | 5.32 | 192 | 1649 | 33.1 | 30.0 | 2458
                    | tracking_rear_misp_grey | 1024000 | 1280 | 800 | 5.32 | 192 | 1649 | 31.5 | 30.0 | 2458
                    | tracking_rear_misp_norm | 1024000 | 1280 | 800 | 5.32 | 192 | 1649 | 35.1 | 30.0 | 2458

                    Still dont see the ToF sensor ... Please advise
                    Thanks, Hector

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

                      @Hector-Gutierrez ,
                      OK, so it looks like that the 4 detected cameras are actually streaming data.

                      I am not sure why voxl-portal is not showing any cameras. When you access the voxl-portal via browser, do you see the actual portal (with green menu bar at the top), but no cameras are listed in the Cameras section?

                      How are you connected to the drone? (wifi, adb, etc).

                      Regarding the TOF sensor, since voxl-camera-server -l did not show that the TOF sensor is detected, the stream is not available.

                      Please double check that com.qti.sensormodule.irs2975c* file is in /usr/lib/camera/ directory - please provide the exact name or let me know if it's missing.

                      Also, can you please take a picture of your cameras plugged into the M0173 camera front end? I just want to make sure the TOF sensor is plugged in correctly.

                      Alex

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

                        @Alex-Kushleyev
                        Hi Alex, I disassembled and reassembled the camera board and now I get 4 cameras in VOXL Portal ! I did reconnect the ToF sensor as well to the camera board, it seems properly connected.
                        The cameras working well are hires_large_color, and all three tracking cameras. I still dont see the ToF sensor , and the view of the hires camera is blurry (out of focus). The hires camera was recently replaced, so how to get it into focus is another question.
                        I listed the files on /usr/lib/camera and found this file: com.qti.sensormodule.irs2975c_3.bin
                        So now we are down to the ToF sensor (and to put the hires camera in focus). Let me know what to try next !
                        thanks, Hector

                        Alex KushleyevA Hector GutierrezH 2 Replies Last reply Reply Quote 0
                        • Alex KushleyevA
                          Alex Kushleyev ModalAI Team @Hector Gutierrez
                          last edited by

                          @Hector-Gutierrez , in order to focus the hires camera (I am assuming IMX412), you can twist the lens in the M12 lens holder. Normally we do focus the hires cameras to a norminal focus distance, but maybe you had one from earlier batch which was not focused. Also, focus of the camera depends on the application, so it is recommended for users to double check and correct the focus for their needs. If there is some sealant on the threads, it is not permanent and can be removed using tweezers - loosening it up a bit should allow you to twist the lens inside the holder.

                          Regarding the PMD TOF, not sure yet. Has it worked before?

                          Alex

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

                            @Hector-Gutierrez
                            Hi Alex - As you suggested, the focus issue was resolved by twisting the lens until good focus at 3 m. was achieved.
                            The TOF sensor remains a problem. I've tried detaching and reconnecting its cable (on both ends) but no luck so far.
                            Both VOXL Portal and voxl-camera-server -l only see 4 cameras.
                            We didnt use the TOF sensor before so I didnt notice if it was working previously or not.
                            Please let me know what to try next - thanks, Hector

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

                              @Hector-Gutierrez , can you please send a picture of the TOF sensor connected to M0173? Just to make sure the connections are correct.

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                              • Hector GutierrezH
                                Hector Gutierrez @Alex Kushleyev
                                last edited by

                                @Alex-Kushleyev
                                Hi Alex - attached are some pictures of the connection. Something odd is happening. The connector engages its socket in two different locations relative to the hole for the screw. In the centered location (where it should be!) the TOF sensor causes a power short and the drone wont boot (see picture with red LED). In the off-center location there is no short and the drone boots, but I only get 4 cameras and the TOF is not visible.
                                ![centered.jpg](Request Entity Too Large) ![off-center1.jpg](Request Entity Too Large) ![off-center2.jpg](Request Entity Too Large) ![power-short.jpg](Request Entity Too Large)

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                                • Hector GutierrezH
                                  Hector Gutierrez @Hector Gutierrez
                                  last edited by

                                  @Hector-Gutierrez
                                  Download link for the pictures in case they did not attach to previous message:
                                  https://quickconnect.to/asapstorage/d/s/13iMi9oRZUxhkQYoW2DCHtZ7nI9HgYJx/bj3PLF8EXd5pKdKgwphVqcbD7VaaMBQX-V7WAgk58WAw

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                                  • Hector GutierrezH
                                    Hector Gutierrez @Hector Gutierrez
                                    last edited by

                                    @Hector-Gutierrez
                                    Update from my previous post. I install the TOF connector in the centered location and fully attach the screws (including the one that secures the TOF ribbon cable). There is no short, the drone start normally, and I get 4 cameras on VOXL portal, but no TOF. Also voxl-camera-server -l only see 4 cameras. So TOF connection is definitely Ok, but sensor not present.

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                                    • Alex KushleyevA
                                      Alex Kushleyev ModalAI Team @Hector Gutierrez
                                      last edited by

                                      @Hector-Gutierrez , I am sorry, i was not able to access the image you shared. Can you please just resize / crop the image so that it fits into the forum? Just please make sure the details are still easy to see.

                                      Thank you!

                                      Alex

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                                      • Hector GutierrezH
                                        Hector Gutierrez @Alex Kushleyev
                                        last edited by

                                        @Alex-Kushleyev
                                        Hi Alex - attached are the pictures. centered.jpg off-center1.jpg

                                        After installing the TOF connector in the centered location and fully attach all the screws (including the one that secures the TOF ribbon cable), there is no short and the drone starts normally. I get 4 cameras on VOXL portal, but no TOF. Also voxl-camera-server -l only see 4 cameras. So TOF connection seems definitely Ok, but sensor not present. Seems to me like a bad TOF sensor - let me know your thoughts.

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

                                          @Hector-Gutierrez Clarification on the pictures. The top picture is the centered position of the TOF ribbon cable. The bottom picture can be disregarded. The connection is done on the centered position (top picture). Thanks.

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