Camera config for M00015 stereo camera only

[KnightHawk06]

Hello, how can I configure for just the M00015 stereo camera? I don't see that as an option and I tried creating a custom config but I get an error on that too.

VOXL 2 Camera Configs

ModalAI technical documentation for VOXL and VOXL 2 Companion Computers for PX4 and ArduPilot Obstacle Avoidance and GPS-denied navigation, assembled in the USA

ModalAI Technical Docs (docs.modalai.com)

voxl2:~$ voxl-configure-cameras

Available camera config IDs are as follows:

26 - M0173 Starling 2 IMX412 + dual AR0144
27 - M0173 Starling 2 PMD IMX412 triple AR0144
28 - M0173 Starling 2 Max dual IMX412 + dual AR0144
29 - M0173 Starling 2 Max PMD + dual IMX412 + dual AR0144
30 - M0173 Starling 2 Prototype dual PMD + dual IMX412 + dual AR0144
36 - M0173 Stalker V5+ IMX412 + dual AR0144
37 - M0173 Stalker V5+ IMX412 + dual AR0144 + Boson
46 - M0173 Stalker V5+ IMX664 + dual AR0144
47 - M0173 Stalker V5+ IMX664 + dual AR0144 + 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
/data/modalai/custom_camera_config.txt: line 54: syntax error: unexpected end of file

voxl2:~$ voxl-version
────────────────────────────────────────────────────────────────────────────────
system-image: 1.8.02-M0054-14.1a-perf
kernel: #1 SMP PREEMPT Mon Nov 11 22:47:44 UTC 2024 4.19.125
────────────────────────────────────────────────────────────────────────────────
hw platform: M0054
mach.var: 1.0.1
────────────────────────────────────────────────────────────────────────────────
voxl-suite: 1.4.3
────────────────────────────────────────────────────────────────────────────────
Packages:
Repo: http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-1.4/binary-arm64/
Last Updated: 2025-04-17 20:21:35
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 0.5.16
libmodal-exposure 0.1.3
libmodal-journal 0.2.3
libmodal-json 0.4.3
libmodal-pipe 2.10.6
libqrb5165-io 0.4.9
libvoxl-cci-direct 0.2.5
libvoxl-cutils 0.1.1
modalai-slpi 1.1.19
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 2.1.2
voxl-ceres-solver 2:1.14.0-10
voxl-configurator 1.0.0
voxl-cpu-monitor 0.5.3
voxl-cross-template 0.0.1
voxl-docker-support 1.3.1
voxl-elrs 0.4.2
voxl-esc 1.5.1
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 2.1.3-5
voxl-lepton-server 1.3.3
voxl-lepton-tracker 0.0.4
voxl-libgphoto2 0.0.4
voxl-libuvc 1.0.7
voxl-logger 0.5.0
voxl-mavcam-manager 0.5.8
voxl-mavlink 0.1.4
voxl-mavlink-server 1.4.5
voxl-modem 1.1.5
voxl-mongoose 7.7.0-1
voxl-mpa-to-ros 0.3.9
voxl-mpa-tools 1.3.7
voxl-open-vins 0.4.17
voxl-open-vins-server 0.3.0
voxl-opencv 4.5.5-2
voxl-osd 0.1.3
voxl-platform-mod 1.0-r0
voxl-portal 0.7.9
voxl-px4 1.14.0-2.0.98
voxl-px4-imu-server 0.1.2
voxl-px4-params 0.6.7
voxl-qvio-server 1.1.1
voxl-remote-id 0.0.9
voxl-reset-slpi 0.0.1
voxl-state-estimator 0.0.4
voxl-streamer 0.7.5
voxl-suite 1.4.3
voxl-tag-detector 0.0.4
voxl-tflite-server 0.3.9
voxl-utils 1.4.6
voxl-uvc-server 0.1.7
voxl-vision-hub 1.8.20
voxl-vtx 1.2.2
voxl2-io 0.0.3
voxl2-system-image 1.8.02-r0
voxl2-wlan 1.0-r0

/data/modalai/custom_camera_config.txt

{
"version": 1.0,
"cameras": [
{
"name": "stereo_left",
"enabled": true,
"type": "ov7251",
"camera_id": 1,
"format": "RAW8",
"width": 640,
"height": 480,
"frame_rate": 30,
"preview_width": 320,
"preview_height": 240,
"preview_frame_rate": 30,
"preview_format": "RAW8",
"is_stereo": true,
"independent_exposure": false,
"ae_desired_msv": 35,
"ae_filter_alpha": 0.8,
"ae_ignore_fraction": 0.2,
"ae_slope": 0.05,
"ae_exposure_period": 4,
"ae_gain_period": 4
},
{
"name": "stereo_right",
"enabled": true,
"type": "ov7251",
"camera_id": 2,
"format": "RAW8",
"width": 640,
"height": 480,
"frame_rate": 30,
"preview_width": 320,
"preview_height": 240,
"preview_frame_rate": 30,
"preview_format": "RAW8",
"is_stereo": true,
"independent_exposure": false,
"ae_desired_msv": 35,
"ae_filter_alpha": 0.8,
"ae_ignore_fraction": 0.2,
"ae_slope": 0.05,
"ae_exposure_period": 4,
"ae_gain_period": 4
}
],
"hal3_buffer_manager_size": 16,
"max_hal3_request_inflight": 8,
"smarter_buffer_allocation": false,
"mipi_clock_speed_khz": 384000
}

[tom]

@KnightHawk06 With VOXL 2 different kernels enable different camera configurations. You'll want to flash the kernel that supports camera configs 1-25,

I recommend downloading the latest SDK from downloads.modalai.com, running ./install.sh and when asked the following:

Detected OS: Linux
Detected: M0054-1 (QRB5165M)
Detected: Config 1 w/ M0173 Breakout Board (Starling 2 Max, Starling 2, FPV V5)

=======================================================================================================
In order to support all of VOXL's camera configurations, specific drones require differing kernel images.
Please select your drone hardware to proceed with flashing the appropriate kernel image.
=======================================================================================================

PLEASE SELECT WHICH KERNEL TO FLASH
1. M0054-1 -> QRB5165M, Starling (D0005), Sentinel (D0006), FPV V4 (D0008), D0010, PX4 Dev Kit (D0011)
2. M0054-1 -> QRB5165M w/ M0173 Camera Breakout Board, Starling 2 Max (D0012), Starling 2 (D0014), FPV V5 (D0008)

Select your choice from the options above
or press [Enter] to continue with current config: 

Choose option 1 for M0054-1 -> QRB5165M, Starling (D0005), Sentinel (D0006), FPV V4 (D0008), D0010, PX4 Dev Kit (D0011)

[KnightHawk06]

@tom I'm trying to flash the same version of firmware that is on the board now but with the different camera configuration but the install.sh script never progresses? It's been ~ 30 minutes.

Running in Interactive mode.

Flashing the following System Image:
        Build Name: 1.8.02-M0054-14.1a-perf
        Build Date: 2024-11-11
        Platform: M0054
        System Image Version: 1.8.02

Installing the following version of voxl-suite:
        voxl-suite Version: 1.4.1


Would you like to continue with SDK install?
1) Yes
2) No
#? 1
[INFO] adb installed
[INFO] fastboot installed

----  Starting System Image Flash ----
----./flash-system-image.sh  ----
Detected OS: Linux
Detected: M0054-1 (QRB5165M)
Detected: Config 1 w/ M0173 Breakout Board (Starling 2 Max, Starling 2, FPV V5)

=======================================================================================================
In order to support all of VOXL's camera configurations, specific drones require differing kernel images.
Please select your drone hardware to proceed with flashing the appropriate kernel image.
=======================================================================================================

PLEASE SELECT WHICH KERNEL TO FLASH
1. M0054-1 -> QRB5165M, Starling (D0005), Sentinel (D0006), FPV V4 (D0008), D0010, PX4 Dev Kit (D0011)
2. M0054-1 -> QRB5165M w/ M0173 Camera Breakout Board, Starling 2 Max (D0012), Starling 2 (D0014), FPV V5 (D0008)

Select your choice from the options above
or press [Enter] to continue with current config: 1

Installer Version: 1.0
Image Version:     1.8.02
Board Version:     M0054-1 (var00.0)

Please power off your VOXL, connect via USB,
then power on VOXL. We will keep searching for
an ADB or Fastboot device over USB
[INFO] Found ADB device
[INFO] Rebooting to fastboot
.
[INFO] Found fastboot device
[WARNING] This system image flash is intended only for the following
          platform: VOXL2 (m0054) 

          Make sure that the device that will be flashed is correct.
          Flashing a device with an incorrect system image will lead
          the device to be stuck in fastboot.

Would you like to continue with the VOXL2 (m0054) system image flash?
1) Yes
2) No
#? 1

[KnightHawk06]

@KnightHawk06 I had to update the fastboot permissions and reboot the device.

sudo gedit /etc/udev/rules.d/51-modalai.rules

SUBSYSTEM=="usb", ATTR{idVendor}=="18d1", ATTR{idProduct}=="d00d", MODE="0660", GROUP="plugdev", SYMLINK+="android_fastboot"

[KnightHawk06]

@tom Is there a configuration for ov7251 stereo and IMX678 (MDK-M0061-2-06)? I don't see any config for the IMX678?

Assembled in USA | Autopilots that Accelerate Drone and Robot Autonomy

ModalAI develops sUAS, drone and robotics autonomous computer vision, flight control and communications systems, and manufactures in the USA. ModalAI's VOXL platform advances Qualcomm Flight, combining ROS and PX4 for Obstacle Avoidance and GPS-Denied indoor navigation, in ready for development to upgrade your drone.

ModalAI, Inc. (www.modalai.com)

01 - ov7251 tracking ov7251 stereo
02 - ov7251 tracking
03 - ov7251 tracking ov7251 stereo imx214 hires
04 - ov7251 tracking imx214 hires
05 - pmd-tof ov7251 tracking
06 - D0005 Starling pmd-tof imx214 hires ov7251 tracking
08 - imx214
09 - pmd-tof
10 - ov7251 stereo
11 - D0006 Sentinel
12 - ov9782 stereo
13 - ov9782 stereo imx214 hires
14 - ov9782 stereo pmd-tof ov7251 tracking (copy)
15 - D0008 dual 9782 tracking
16 - pmd-tof ov7251 dual tracking imx214 hires
17 - D0010 pmd-tof imx412 hires ov7251 tracking ov9782 stereo
18 - D0008 triple ov9782
19 - D0005 without tof imx214 hires ov7251 tracking
20 - D0011 imx412 hires ar0144 tracking
21 - old C6
23 - D0010 without stereo
24 - pmd-tof LIOW2 (new TOF)
25 - dual ar0144
31 - D0013 Prototype M0135 dual ar0144
32 - D0008 triple ov9782 rotated
 C - use user-defined custom camera config in
     (/data/modalai/custom_camera_config.txt)
 q - Quit The Wizard