Starling V2 cameras not being detected

Alex Kushleyev

@Leo-Allesch , please double check that all your cameras are connected as shown in the diagram on this page : https://docs.modalai.com/voxl2-d0005/ (and double check the pin1 locations for each camera)

Can you provide which cameras are detected by camera server (output of voxl-camera-server -l, just the top part)

Also, please list the complete contents of /usr/lib/camera/

Thanks!

Alex

Leo Allesch

@Alex-Kushleyev

The drone is wired up according to the diagram, could you explain what you mean by the pin1 location?

Here is the output for voxl-camera-server -l

starling (D0005):~$ voxl-camera-server -l
existing instance of voxl-camera-server found, attempting to stop it
DEBUG:   Attempting to open the hal module
DEBUG:   SUCCESS: Camera module opened on attempt 0
DEBUG:   ----------- Number of cameras: 1

DEBUG:   Cam idx: 0, Cam slot: 3, Slave Address: 0x00E2, Sensor Id: 0x7750
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: 1


====================================

Here is the contents of /usr/lib/camera

starling (D0005):~$ ls -l /usr/lib/camera
total 6612
-rwxr-xr-x 1 root root   9912 Oct 22 03:46 com.qti.eeprom.cmk_imx577.so
-rwxr-xr-x 1 root root   9904 Oct 22 03:46 com.qti.sensor.ar0144.so
-rwxr-xr-x 1 root root   5808 Oct 22 03:46 com.qti.sensor.boson.so
-rwxr-xr-x 1 root root   5816 Oct 22 03:46 com.qti.sensor.cmk_imx577.so
-rwxr-xr-x 1 root root   5816 Oct 22 03:46 com.qti.sensor.cmk_imx577_flip.so
-rwxr-xr-x 1 root root   9904 Oct 22 03:46 com.qti.sensor.imx214.so
-rwxr-xr-x 1 root root   9912 Oct 22 03:46 com.qti.sensor.imx214_flip.so
-rwxr-xr-x 1 root root   9904 Oct 22 03:46 com.qti.sensor.imx335.so
-rwxr-xr-x 1 root root   5808 Oct 22 03:46 com.qti.sensor.imx377.so
-rwxr-xr-x 1 root root   9912 Oct 22 03:46 com.qti.sensor.imx412_fpv.so
-rwxr-xr-x 1 root root   9904 Oct 22 03:46 com.qti.sensor.imx664.so
-rwxr-xr-x 1 root root   9904 Oct 22 03:46 com.qti.sensor.imx678.so
-rwxr-xr-x 1 root root   9912 Oct 22 03:46 com.qti.sensor.imx678_flip.so
-rwxr-xr-x 1 root root   9912 Oct 22 03:46 com.qti.sensor.imx678_mod.so
-rwxr-xr-x 1 root root   5808 Oct 22 03:46 com.qti.sensor.irs1645.so
-rwxr-xr-x 1 root root   5808 Oct 22 03:46 com.qti.sensor.irs2975c.so
-rwxr-xr-x 1 root root   9904 Oct 22 03:46 com.qti.sensor.ov64b40.so
-rwxr-xr-x 1 root root   9904 Oct 22 03:46 com.qti.sensor.ov7251.so
-rwxr-xr-x 1 root root   9912 Oct 22 03:46 com.qti.sensor.ov7251_front_left.so
-rwxr-xr-x 1 root root   9920 Oct 22 03:46 com.qti.sensor.ov7251_front_left_flip.so
-rwxr-xr-x 1 root root   9920 Oct 22 03:46 com.qti.sensor.ov7251_front_right.so
-rwxr-xr-x 1 root root   9920 Oct 22 03:46 com.qti.sensor.ov7251_front_right_flip.so
-rwxr-xr-x 1 root root   9912 Oct 22 03:46 com.qti.sensor.ov7251_fsin.so
-rwxr-xr-x 1 root root   9912 Oct 22 03:46 com.qti.sensor.ov7251_fsout.so
-rwxr-xr-x 1 root root   9912 Oct 22 03:46 com.qti.sensor.ov7251_rear_left.so
-rwxr-xr-x 1 root root   9920 Oct 22 03:46 com.qti.sensor.ov7251_rear_left_flip.so
-rwxr-xr-x 1 root root   9912 Oct 22 03:46 com.qti.sensor.ov7251_rear_right.so
-rwxr-xr-x 1 root root   9920 Oct 22 03:46 com.qti.sensor.ov7251_rear_right_flip.so
-rwxr-xr-x 1 root root   9904 Oct 22 03:46 com.qti.sensor.ov9782.so
-rwxr-xr-x 1 root root   9912 Oct 22 03:46 com.qti.sensor.ov9782_front_left.so
-rwxr-xr-x 1 root root   9920 Oct 22 03:46 com.qti.sensor.ov9782_front_left_flip.so
-rwxr-xr-x 1 root root   9920 Oct 22 03:46 com.qti.sensor.ov9782_front_right.so
-rwxr-xr-x 1 root root   9920 Oct 22 03:46 com.qti.sensor.ov9782_front_right_flip.so
-rwxr-xr-x 1 root root   9912 Oct 22 03:46 com.qti.sensor.ov9782_rear_left.so
-rwxr-xr-x 1 root root   9920 Oct 22 03:46 com.qti.sensor.ov9782_rear_left_flip.so
-rwxr-xr-x 1 root root   9912 Oct 22 03:46 com.qti.sensor.ov9782_rear_right.so
-rwxr-xr-x 1 root root   9920 Oct 22 03:46 com.qti.sensor.ov9782_rear_right_flip.so
-rw-r--r-- 1 root root 149272 Feb 10 17:39 com.qti.sensormodule.imx214_2.bin
-rw-r--r-- 1 root root 674736 Feb 10 17:39 com.qti.sensormodule.irs1645_0.bin
-rw-r--r-- 1 root root 142472 Feb 10 17:39 com.qti.sensormodule.ov7251_3.bin
-rw-r--r-- 1 root root 957344 Oct 22 03:46 com.qti.tuned.cmk_imx577.bin
-rw-r--r-- 1 root root 835464 Oct 22 03:46 com.qti.tuned.cmk_ov9282.bin
-rw-r--r-- 1 root root 931864 Oct 22 03:46 com.qti.tuned.default.bin
-rw-r--r-- 1 root root 957344 Oct 22 03:46 com.qti.tuned.imx412_fpv.bin
-rw-r--r-- 1 root root 793816 Oct 22 03:46 com.qti.tuned.ov9782.bin
-rw-r--r-- 1 root root 882376 Oct 22 03:46 com.qti.tuned.sony_imx335.bin
drwxr-xr-x 2 root root   4096 Oct 22 04:04 components
starling (D0005):~$

Leo Allesch

@Alex-Kushleyev Is there any way I can see if the cameras are recognized at all to see if the connection is good?

Alex Kushleyev

@Leo-Allesch , sorry for the delay.

Based on your previous post, only one camera is detected:

Cam idx: 0, Cam slot: 3, Slave Address: 0x00E2, Sensor Id: 0x7750

(if more cameras were detected, you would see them show up in that list, which is output of voxl-camera-server -l).

This is the tracking camera in camera slot 3 (VOXL2 J7 Upper slot). The slot numbers are also labeled in the diagram https://docs.modalai.com/voxl2-d0005/, specifically you can see 0, 2, 3 labeled on the M0135 interposers that are plugged into VOXL2:

I do see the correct sensormodules in /usr/lib/camera/. (slot 0 for TOF and slot 2 for IMX214).

I suspect that you have the hires camera and TOF module plugged in backwards into the M0135 adapters. The tracking camera (unfortunately?) has a different connector orientation compared to other cameras, but pin1 is correctly marked with a dot (or a number 1) on all connectors.

Your cameras should be connected like in the picture below:

Another look (in the assembly of the drone):

Please double check the connections.

Alex

Leo Allesch

@Alex-Kushleyev Yes I've verified that my connections matched this, and I've tried reseatting them as well

Alex Kushleyev

@Leo-Allesch , thanks for checking that. I am assuming that the cameras used to work at some point - can you confirm? What happened between the working and non-working state?

Alex

Leo Allesch

@Alex-Kushleyev I received this drone for a engineering capstone project, so I have no complete history of the drone, as far as I'm aware the previous person with this drone never got it fly but also never damaged it in any way

Leo Allesch

@Alex-Kushleyev can we easily swap the cameras onto the port that the tracking camera is on? We know that port works so verifying that it's the port not the camera would be ideal. What configuration would we need to change to do that?

Alex Kushleyev

@Leo-Allesch ,

OK, i understand. So i think the next step is to figure out what exactly is not working: cameras, M0135 interposers or VOXL2.

Since we know that the camera slot 3 hardware and software path seems to be working, you can try plugging in other cameras (hires, TOF) in to that slot:

power off VOXL2, disconnect tracking camera, disconnect TOF and hires camera
plug in IMX214 hires camera into tracking camera's slot, the camera flex will be going towards the center of M0135
power on voxl2 and copy com.qti.sensormodule.imx214_3.bin from /usr/share/modalai/chi-cdk/imx214 to /usr/lib/camera/. You can leave the existing sensormodules in /usr/lib/camera/, no need to delete.
run voxl-camera-server -l to see if the camera is detected
repeat the same test for the TOF sensor ( you will need to copy com.qti.sensormodule.irs1645_3.bin camera driver)

Alternatively, if you have another VOXL2, you could do some testing with that, but I am assuming that another VOXL2 is not available.

Alex

Leo Allesch

@Alex-Kushleyev OK, so I've spent some time switching ports around, here's what I've found out. I actually got the tracking camera and imx214 to work each on port 0 and port 3 separately and at the same time. I've never gotten anything to work on port 2, and I have never gotten the TOF sensor to work on any channel. Can certain sensors only work on certain ports? And is port 1 ever used? I also have seen that the m0040 has been EOL so is there a different sensor that I need?

Alex Kushleyev

@Leo-Allesch ,

It seems the TOF sensor and camera port 2 are not functional. I am assuming that you tried using both M0135 adapters to test port 2? Considering that it was working before, this is likely not a software issue, but a hardware issue, but it is not clear why exactly.

All of your cameras are interchangeable in the camera ports, as long as the camera ports and sensors are working (and the sensormodule drivers are set up correctly).

By default, the port 1 (camera slot 1), is reserved for use in a stereo configuration when used with M0076, like this one : https://docs.modalai.com/voxl2-camera-configs/#c10---front-stereo-only . So it will not work as a generic camera port when used with M0135. The functionality can be re-configured in software (requires a change in the kernel), but we don't have a ready-to-go kernel with just this change (we can revisit this later, if needed).

By the way, you can also test VOXL2 J8. J8 is set up in a similar way as J6, that is the J8L can be used for any camera, but J8U is reserved (by default) for another stereo pair. However, this will allow you to test yet another port just to double check things. The camera slot IDs for J8 are 4 and 5. Please note that the orientation of J8 is rotated compared to J6 and J7. You can see how a TOF sensor is attached to VOXL2 J8 via M0076 adapter : https://docs.modalai.com/voxl2-camera-configs/#cx---two-time-of-flights-tof . M0076 is a single port version of M0135 interposer (only providing the Lower camera port).

So, if you test VOXL2 J8, use the lower camera port 4 (J8L).

Yes, M0040 is EOL, so the replacements are not available. The upgraded version of TOF sensor is here : https://docs.modalai.com/M0169/ , however it has different dimensions and connector requirements. We can discuss this further if needed.

What is your goal? Do you need the original configuration working or are you potentially looking for any updates?

Alex