Starling 2: TOF sensor not recognized by VOXL Portal

hgutier

Hello - I'm having an issue in which the TOF sensor in a Starling-2 is not recognized by VOXL Portal, even though the sensor looks perfectly fine and the connections and cable look fine at visual inspection. I've tried connecting and disconnecting the sensor, and enabling/disabling the cameras one by one, but no luck. After some troubleshooting it seems the issue may be with the camera board. Please advise on how to proceed. Starling-2 was purchased on February 2025 and TOF sensor has not been previously used. Thanks, Hector Gutierrez

Alex Kushleyev

Hello @hgutier ,

Can you please provide output of voxl-camera-server -l, which will scan all the connected cameras? You can just list the top part, something like this (just an example). Please note that this command will stop the background camera server service, if it's running, which can be restarted using systemctl start voxl-camera-server or just rebooting voxl2.

 voxl-camera-server -l
DEBUG:   Attempting to open the hal module
DEBUG:   SUCCESS: Camera module opened on attempt 0
DEBUG:   ----------- Number of cameras: 3

DEBUG:   Cam idx: 0, Cam slot: 0, Slave Address: 0x0020, Sensor Id: 0x0214
DEBUG:   Cam idx: 1, Cam slot: 1, Slave Address: 0x0030, Sensor Id: 0x0356
DEBUG:   Cam idx: 2, Cam slot: 2, Slave Address: 0x0034, Sensor Id: 0x0077

Also, please list the following contents:

ls /usr/lib/camera/*sensormodule*

We will just double check that the software is set up correctly to use the TOF module.

Thank you

Alex

Hector Gutierrez

@Alex-Kushleyev

Hi Alex - apologies for the long delay. Here is the output I get from voxl-camera-server -l :

voxl2:/$ voxl-camera-server -l
DEBUG: Attempting to open the hal module
DEBUG: SUCCESS: Camera module opened on attempt 0
DEBUG: ----------- Number of cameras: 0
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: 0

In other words, my drone does not see any cameras at all. The same shows when running VOXL portal (zero cameras).
I just run apt update && apt upgrade successfully in this drone.

The other command you mentioned gives the following output:
voxl2:/$ ls /usr/lib/camera/sensormodule
/usr/lib/camera/com.qti.sensormodule.imx412_2.bin /usr/lib/camera/com.qti.sensormodule.imx412_3.bin

Please advise - something is really wrong here since I cant see any of my cameras. My Starling 2 has the camera configuration C27 (triple tracking)
Thanks, Hector

Alex Kushleyev

@Hector-Gutierrez , since you have a standard camera configuration, you should run the following command to configure your VOXL2 for C27:

voxl-configure-cameras 27

This command should copy the correct sensormodule files to /usr/lib/camera and set up a default config in /etc/modalai/voxl-camera-server.conf for this camera arrangement.

Alex