ADB will not find Flight Deck if the tracking camera is connected (J4)



  • Yes, but when I try to run it I just get stuck at "Using configuration file ..."

    yocto:/$ voxl-streamer -c tracking
    Using configuration tracking
    Using configuration file /etc/modalai/voxl-streamer.conf
    

    And I've left it for almost 5 minutes with it stuck at this stage.


  • Dev Team

    Is voxl-camera-server running? You can check with

    voxl-inspect-services
    


  • It is enabled but not running, so how would I go about running it?

    yocto:/$ voxl-inspect-services
     Service Name        |  Enabled  |   Running   |  CPU Usage
    --------------------------------------------------------------
     docker-autorun      | Disabled  | Not Running | Not Running
     docker-daemon       | Disabled  | Not Running | Not Running
     modallink-relink    | Disabled  | Not Running | Not Running
     voxl-camera-server  |  Enabled  | Not Running | Not Running
    
    

  • Dev Team

    You can run it with:

    systemctl start voxl-camera-server
    

    If it is enabled but not running though that means that it crashed on startup (or you stopped it). If you didn't manually stop it that means it encountered an error which is usually due to a bad camera connector causing the driver to throw an error. If you start it and it still shows up as stopped afterwards could you run it manually with:

    voxl-camera-server -d 0
    

    and paste the output here



  • Here is the output:

    yocto:/$ voxl-camera-server -d 0
    ------ voxl-camera-server INFO: Port J2
    
    ------ voxl-camera-server: Done configuring hires camera
    	 Port       : port_J2
    	 Name       : hires
    	 Enabled    : 1
    	 Type       : hires
    	 Api        : hal3
    	 P-W        : 640
    	 P-H        : 480
    	 P-Fmt      : nv21
    	 FPS        : 30
    	 OverrideId : -1
    	 AEAlgo     : isp
    
    ------ voxl-camera-server INFO: Port J3
    
    ------ voxl-camera-server: Done configuring stereo camera
    	 Port       : port_J3
    	 Name       : stereo
    	 Enabled    : 1
    	 Type       : stereo
    	 Api        : hal3
    	 P-W        : 1280
    	 P-H        : 480
    	 P-Fmt      : nv21
    	 FPS        : 30
    	 OverrideId : -1
    	 AEAlgo     : modalai
    =================MODALAI Auto Exposure Settings==================
    gain_min:                        0
    gain_max:                        1000
    exposure_min_us:                 100
    exposure_max_us:                 33000
    desired_msv:                     58.000000
    k_p_ns:                          32000.000000
    k_i_ns:                          20.000000
    max_i:                           250.000000
    p_good_thresh:                   3
    exposure_period:                 1
    gain_period:                     2
    display_debug:                   no
    exposure_offset_for_gain_calc:   8000
    =================================================================
    
    ------ voxl-camera-server INFO: Port J4
    
    ------ voxl-camera-server: Done configuring tracking camera
    	 Port       : port_J4
    	 Name       : tracking
    	 Enabled    : 1
    	 Type       : tracking
    	 Api        : hal3
    	 P-W        : 640
    	 P-H        : 480
    	 P-Fmt      : raw8
    	 FPS        : 30
    	 OverrideId : -1
    	 AEAlgo     : modalai
    =================MODALAI Auto Exposure Settings==================
    gain_min:                        0
    gain_max:                        1000
    exposure_min_us:                 100
    exposure_max_us:                 33000
    desired_msv:                     58.000000
    k_p_ns:                          32000.000000
    k_i_ns:                          20.000000
    max_i:                           250.000000
    p_good_thresh:                   3
    exposure_period:                 1
    gain_period:                     2
    display_debug:                   no
    exposure_offset_for_gain_calc:   8000
    =================================================================
    
    Writing new configuration to /etc/modalai/voxl-camera-server.conf
    Created pipe: hires_preview channel: 0
    Created pipe: stereo channel: 1
    Created pipe: tracking channel: 2
    Starting Camera: tracking
    SUCCESS: Camera module opened
    ----------- Number of cameras: 0
    
    
    ------ voxl-camera-server INFO: Camera server is now stopping
    		There is a chance that it may segfault here, this is a mmqcamera bug, ignore it
    
    ------ voxl-camera-server INFO: Stopping tracking camera
    Fault address: 0x68
    Address not mapped.
    Segmentation fault
    

    I do have the J3 and J2 ports using the MIPI extension cables if that might be causing problems


  • Dev Team

    You have all of the cameras indicated there plugged in (hires, stereo, tracking)?



  • Yes, and I've double checked that they are all in the correct ports


  • Dev Team

    It's also possible that your extension cables are plugged in backwards, 90% of that output is reading the config file at /etc/modalai/voxl-camera-server.conf. The critical part is the

    ----------- Number of cameras: 0
    

    This is the response from the driver when we asked how many cameras it sees, it will often refuse to open any of them if any of the lines are incorrect, could you show a picture of you cable setup?


  • Dev Team

    There could also be a break in one of the cable lines (they can bend gently but should not be folded to an angle)



  • Sorry for the late response, I've been doing some testing. so I've narrowed it down to the error lying in the stereo cameras, I connected each sensor one at a time, reconfigured, and ran the voxl-streamer and was able to get footage for the hires and tracking, but when it came to the stereo it would not work. When I would reboot the system and inspect the services I would see that the voxl-camera-server is running, but once I tried to voxl-streamer -c stereo it would get stuck at the same place and the voxl-camera-server would stop running. I've confirmed that both of my extension cables are working by testing them with the hires camera. I checked the physcial connections on the stereo cameras and there are no creases in them, they look just as they were folded with the original setup, and I believe that if any of the connections were inverted then the VOXL wouldn't even start up.


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