[URGENT] RB5 VOXL2 doesn't recognize replaced hires camera

smilon

Dear ModalAI team,

I just had to replace my M0025 hires camera on my RB5. After replacing the new camera as instructed in one of your videos, I noticed first of all that the hires pipe is not recognized even though my voxl-camera-server.conf is untouched.

Even so, I have triple-checked the camera is undamaged and installed properly. I never had a similar issue before and just ordered the camera fresh (ordered last week). Also note, that when I briefly have connection I verified that all the rest cameras are streaming fine through voxl-streamer.

Please advise ASAP as it is a time-sensitive issue.

Installation video (@2:55)

smilon

systemctl status voxl-camera-server:

Feb 07 11:59:55 m0052 voxl-camera-server[1528]: setting ov7251 BLC register for cam id 1
Feb 07 11:59:55 m0052 voxl-camera-server[1528]: Starting Camera: tracking (id #2)
Feb 07 11:59:55 m0052 voxl-camera-server[1528]: Using gain limits min: 54 max: 3451
Feb 07 11:59:55 m0052 voxl-camera-server[1528]: setting ov7251 BLC register for cam id 2
Feb 07 11:59:55 m0052 voxl-camera-server[1528]: Starting Camera: hires (id #3)
Feb 07 11:59:55 m0052 voxl-camera-server[1528]: WARNING: cam hires (id 3) does not seem to be alive
Feb 07 11:59:55 m0052 voxl-camera-server[1528]: ------ voxl-camera-server: Started 2 of 3 cameras
Feb 07 11:59:55 m0052 voxl-camera-server[1528]: ------ voxl-camera-server: Camera server is now running
Feb 07 11:59:55 m0052 voxl-camera-server[1528]: WARNING: Camera stereo Received much newer master than child (33.3ms), discarding child 
Feb 07 13:01:59 m0052 voxl-camera-server[1528]: WARNING: Camera stereo Received much newer child than master (33.8ms), discarding master
lines 3-18/18 (END)

Alex Kushleyev

Hi @smilon,

Are you able to test the original camera that was connected before you replaced it?

Regarding the following statement, "Also note, that when I briefly have connection I verified that all the rest cameras are streaming fine through voxl-streamer." -- are you saying that after replacement the M0025 camera briefly worked but stopped working?

Please check any interposers / flex cables between the camera and main board.

Alex

smilon

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smilon

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smilon

@Alex-Kushleyev Dear Alex,

I ended up re-flashing SDK1.1.2 on the RB5 and now I don't get an "unrecognized error" on the hires camera, however I still haven't managed to get it to work. The problem now seems to be that it's not able to recognize several imx214 supported resolutions and therefore the hires camera doesn't start up. For example in the following voxl-camera-server.conf:

{
			"type":	"imx214",
			"name":	"hires",
			"enabled":	true,
			"camera_id":	3,
			"fps":	30,
			"en_preview":	false,
			"preview_width":	640,
			"preview_height":	480,
			"en_raw_preview":	false,
			"en_small_video":	true,
			"small_video_width":	640,
			"small_video_height":	480,
			"small_venc_mode":	"h265",
			"small_venc_br_ctrl":	"cqp",
			"small_venc_Qfixed":	30,
			"small_venc_Qmin":	15,
			"small_venc_Qmax":	40,
			"small_venc_nPframes":	9,
			"small_venc_mbps":	2,
			"en_large_video":	true,
			"large_video_width":	640,
			"large_video_height":	480,
			"large_venc_mode":	"h265",
			"large_venc_br_ctrl":	"cqp",
			"large_venc_Qfixed":	38,
			"large_venc_Qmin":	15,
			"large_venc_Qmax":	50,
			"large_venc_nPframes":	29,
			"large_venc_mbps":	30,
			"en_snapshot":	true,
			"en_snapshot_width":	4208,
			"en_snapshot_height":	3120,
			"ae_mode":	"isp"
		}

I get the following status info from the voxl-camera-server:

Feb 10 13:48:55 m0052 voxl-camera-server[2929]: WARNING: Failed to start cam hires due to invalid resolution
Feb 10 13:48:55 m0052 voxl-camera-server[2929]: WARNING: assuming cam is missing and trying to compensate
Feb 10 13:48:55 m0052 voxl-camera-server[2929]: Starting Camera: stereo_rear (originally id #5) with id offset: 1
Feb 10 13:48:55 m0052 voxl-camera-server[2929]: Using gain limits min: 54 max: 3451
Feb 10 13:48:55 m0052 voxl-camera-server[2929]: WARNING: Camera stereo_front Received much newer master than child (33.2ms), discarding 
Feb 10 13:48:55 m0052 voxl-camera-server[2929]: setting ov7251 BLC register for cam id 4
Feb 10 13:48:55 m0052 voxl-camera-server[2929]: setting ov7251 BLC register for cam id 3
Feb 10 13:48:55 m0052 voxl-camera-server[2929]: ------ voxl-camera-server: Started 3 of 4 cameras
Feb 10 13:48:55 m0052 voxl-camera-server[2929]: ------ voxl-camera-server: Camera server is now running
Feb 10 13:48:55 m0052 voxl-camera-server[2929]: WARNING: Camera stereo_rear Received much newer child than master (33.3ms), discarding m

I obviously tried with the Sentinel default config before modifying the resolutions to 640x480. I would appreciate if you provided a list of the supported resolutions for the M0025 sensor, just for my own sanity checks.

More info:

I am using voxl-camera-server 1.8.9+1. And to clarify with my previous post, no I haven't seen the hires cam working yet. Also a link to the shop for the replacement: https://www.modalai.com/products/msu-m0025-2?srsltid=AfmBOop_qPdLSNdkIYk-s1uaBYXFxWmQ77v__3fUlWISbT7HQM_sLcW0

smilon

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Alex Kushleyev

@smilon ,

I believe what is happening is that your IMX214 is still not being detected and camera server is trying to skip the undetected camera.

In your config, you specified that imx214 is camera id 3, but the camera server prints the following, which means it detected ov7251 as camera id 3:

setting ov7251 BLC register for cam id 3

if you run voxl-camera-server -l, does camera server detect imx214 at the very top of the output?

If something seems confusing, you can try physically disconnecting all cameras except for your IMX214 and modify the voxl-camera-server.conf to only use one camera (imx214, which should be camera id 0, the only camera). That would be a good start to confirm the single hires camera is working.

Alex