VOXL2 mini does not boot with camera connected (AR0144 via M0084)
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I have edited /data/modalai/custom_camera_config.txt as below with the M0084 connected on J7 and the AR0144 camera connected on JU.
J6_LOWER_SENSOR="" J6_LOWER_NAME="" J6_LOWER_ROTATE="false" J6_UPPER_SENSOR="" J6_UPPER_NAME="" J6_UPPER_ROTATE="false" J7_LOWER_SENSOR="" J7_LOWER_NAME="" J7_LOWER_ROTATE="false" J7_UPPER_SENSOR="ar0144" J7_UPPER_NAME="tracking1200" J7_UPPER_ROTATE="false" J7_UPPER_COMBO_MODE="single" J8_LOWER_SENSOR="" J8_LOWER_NAME="" J8_LOWER_ROTATE="false" J8_UPPER_SENSOR="" J8_UPPER_NAME="" J8_UPPER_ROTATE="false"Below is the output from running the configuration wizard.
voxl2-mini:/$ voxl-configure-cameras Available camera config IDs are as follows: 22 - M0188 Stinger Dual AR0144 33 - M0188 Stinger IMX664 + dual AR0144 34 - M0195 Stinger IMX664 + dual AR0144 + boson 35 - RESERVED for Future Stinger Config 38 - M0188 Sparrow IMX664 + Triple AR0144 50 - MVX-T0001 voxl2 mini hires imx664 51 - MVX-T0001 voxl2 mini hires imx664 + boson 52 - MVX-T0001 voxl2 mini dual hires imx664 + boson C - use user-defined custom camera config in (/data/modalai/custom_camera_config.txt) q - Quit The Wizard selection: C Selecting custom camera config Camera Configuration: custom camera server config helper list: tracking1200:ar0144:0: driver binary list: /usr/share/modalai/chi-cdk/ar0144/com.qti.sensormodule.ar0144_3.bin calling camera-server-config-helper tracking1200:ar0144:0: ERROR: object missing misp_channels successfully wrote this camera config to disk: ================================================================= configuration for 1 cameras: cam #0 name: tracking1200 sensor type: ar0144 isEnabled: 1 camId: 0 camId2: -1 fps: 30 en_rotate: 0 en_rotate2: 0 en_preview: 1 pre_width: 1280 pre_height: 800 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_misp: 1 misp_width: 1280 misp_height: 800 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: lme_msv msv_exposure_min_us: 20 msv_exposure_max_us: 12000 gain_min : 54 gain_max : 8000 standby_enabled: 0 decimator: 1 independent_exposure:0 fsync_en: 0 fsync_gpio: 109 ================================================================= camera_server_config_helper is done camera-server-config-helper succeeded on attempt 1 leaving fsync pin off copying required camera drivers in place /usr/share/modalai/chi-cdk/ar0144/com.qti.sensormodule.ar0144_3.bin enabling voxl-camera-server ------------------------------------------------------------------ Done Configuring Cameras Please power cycle VOXL to load new drivers camera server will start on next reboot ------------------------------------------------------------------I can also confirm the connectors are seated properly so I must be missing something. Any assistance would be much appreciated!
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When reconnecting power, the bright green LED comes on and stays on as opposed to turning off during a successful boot.
voxl-version below
voxl2-mini:/$ voxl-version ──────────────────────────────────────────────────────────────────────────────── system-image: 1.8.02-M0104-14.1a-perf kernel: #1 SMP PREEMPT Tue Nov 12 00:00:44 UTC 2024 4.19.125 ──────────────────────────────────────────────────────────────────────────────── hw platform: M0104 mach.var: 2.0.2 SKU: TF-M0104-6-V1-C6 ──────────────────────────────────────────────────────────────────────────────── voxl-suite: 1.4.5 ──────────────────────────────────────────────────────────────────────────────── Packages: Repo: http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-1.4/binary-arm64/ Last Updated: 2025-06-27 18:44:11 List: kernel-module-voxl-fsync-mod-4.19.125 1.0-r0 kernel-module-voxl-gpio-mod-4.19.125 1.0-r0 kernel-module-voxl-platform-mod-4.19.125 1.0-r0 libfc-sensor 1.0.7 libmodal-cv 0.5.18 libmodal-exposure 0.1.4 libmodal-journal 0.2.5 libmodal-json 0.4.7 libmodal-pipe 2.13.1 libqrb5165-io 0.5.0 libvoxl-cci-direct 0.3.2 libvoxl-cutils 0.1.5 modalai-slpi 1.1.20 mv-voxl 0.1-r0 qrb5165-bind 0.1-r0 qrb5165-dfs-server 0.2.0 qrb5165-imu-server 1.1.3 qrb5165-rangefinder-server 0.1.5 qrb5165-slpi-test-sig 01-r0 qrb5165-system-tweaks 0.3.5 qrb5165-tflite 2.8.0-2 voxl-bind-spektrum 0.1.1 voxl-camera-calibration 0.5.9 voxl-camera-server 2.2.1 voxl-ceres-solver 2:1.14.0-10 voxl-configurator 1.0.1 voxl-cpu-monitor 0.6.0 voxl-docker-support 1.3.1 voxl-elrs 0.4.7 voxl-esc 1.5.2 voxl-feature-tracker 0.5.2 voxl-flow-server 0.3.6 voxl-fsync-mod 1.0-r0 voxl-gphoto2-server 0.0.10 voxl-gpio-mod 1.0-r0 voxl-io-server 0.0.5 voxl-jpeg-turbo 2.1.3-7 voxl-lepton-server 1.3.3 voxl-lepton-tracker 0.0.4 voxl-libgphoto2 0.0.4 voxl-libuvc 1.0.7 voxl-logger 0.5.3 voxl-mavcam-manager 0.5.8 voxl-mavlink 0.1.5 voxl-mavlink-server 1.4.7 voxl-modem 1.1.6 voxl-mongoose 7.7.0-2 voxl-mpa-to-ros 0.3.9 voxl-mpa-tools 1.4.0 voxl-open-vins 0.4.19 voxl-open-vins-server 0.3.12 voxl-opencv 4.5.5-3 voxl-osd 0.1.7 voxl-platform-mod 1.0-r0 voxl-portal 0.7.10 voxl-px4 1.14.0-2.0.98 voxl-px4-imu-server 0.1.2 voxl-px4-params 0.7.3 voxl-qvio-server 1.2.0 voxl-remote-id 0.0.9 voxl-reset-slpi 0.0.1 voxl-state-estimator 0.0.5 voxl-streamer 0.7.5 voxl-suite 1.4.5 voxl-tag-detector 0.0.4 voxl-tflite-server 0.4.1 voxl-utils 1.4.7 voxl-uvc-server 0.1.7 voxl-vision-hub 1.8.21 voxl-vtx 1.3.14 voxl-wavemux 0.0.1 voxl2-io 0.0.3 voxl2-system-image 1.8.02-r0 voxl2-wlan 1.0-r0 ──────────────────────────────────────────────────────────────────────────────── -
There might be a problem with the voxl-camera-server according to the output of
systemctl status voxl-camera-serverso I upgraded to the latest version in gitlab (2.2.4) and still get the same status output below.voxl2-mini:/$ systemctl status voxl-camera-server ● voxl-camera-server.service - voxl-camera-server Loaded: loaded (/usr/bin/voxl-camera-server; enabled; vendor preset: enabled) Active: failed (Result: exit-code) since Thu 2025-07-03 17:42:10 UTC; 2min 6s ago Process: 2832 ExecStart=/usr/bin/voxl-camera-server (code=exited, status=255) Main PID: 2832 (code=exited, status=255) Jul 03 17:42:08 m0104 systemd[1]: voxl-camera-server.service: Main process exited, code=exited, status=255/n/a Jul 03 17:42:08 m0104 systemd[1]: voxl-camera-server.service: Failed with result 'exit-code'. Jul 03 17:42:10 m0104 systemd[1]: voxl-camera-server.service: Service hold-off time over, scheduling restart. Jul 03 17:42:10 m0104 systemd[1]: voxl-camera-server.service: Scheduled restart job, restart counter is at 3. Jul 03 17:42:10 m0104 systemd[1]: Stopped voxl-camera-server. Jul 03 17:42:10 m0104 systemd[1]: voxl-camera-server.service: Start request repeated too quickly. Jul 03 17:42:10 m0104 systemd[1]: voxl-camera-server.service: Failed with result 'exit-code'. Jul 03 17:42:10 m0104 systemd[1]: Failed to start voxl-camera-server.