# Starling 2: TOF sensor not recognized by VOXL Portal Source: https://forum.modalai.com/topic/4420/starling-2-tof-sensor-not-recognized-by-voxl-portal Category: Development Drones (https://forum.modalai.com/category/44/development-drones) Tags: starling Posted: 2025-05-12 15:49:02 UTC by hgutier Replies: 27 · Views: 6219 ## hgutier · 2025-05-12 15:49:02 UTC 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 ## Reply by Alex Kushleyev (ModalAI staff) · 2025-05-12 21:20:00 UTC 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 ## Reply by Hector Gutierrez · 2025-06-06 20:58:21 UTC (in reply to Alex Kushleyev) @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 ## Reply by Alex Kushleyev (ModalAI staff) · 2025-06-07 03:40:08 UTC (in reply to Hector Gutierrez) @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 ## Reply by Hector Gutierrez · 2025-06-07 22:07:35 UTC (in reply to Alex Kushleyev) @Alex-Kushleyev Thanks. The output of voxl-camera-server -l is shown below, but it seems generic. Several issues remain: * voxl-camera-server detected 4 cameras, but my drone has 5 * when opening voxl portal, zero cameras are detected. Also, the IMU plotter runs but gives empty plots. Please let me know what to try next - it does seem like a hardware problem. Thanks - Regards, Hector ------- voxl2:/$ voxl-camera-server -l DEBUG: Attempting to open the hal module DEBUG: SUCCESS: Camera module opened on attempt 0 DEBUG: ----------- Number of cameras: 4 DEBUG: Cam idx: 0, Cam slot: 0, Slave Address: 0x0030, Sensor Id: 0x0356 DEBUG: Cam idx: 1, Cam slot: 1, Slave Address: 0x0034, Sensor Id: 0x0577 DEBUG: Cam idx: 2, Cam slot: 2, Slave Address: 0x0030, Sensor Id: 0x0356 DEBUG: Cam idx: 3, Cam slot: 6, Slave Address: 0x0030, Sensor Id: 0x0356 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: 4 ==================================== Stats for camera: 0 ANDROID_SCALER_AVAILABLE_RAW_SIZES: These are likely supported by the sensor 1280 x 800 1280 x 800 ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS: These are NOT necessarily supported by the sensor 1280 x 800 HAL_PIXEL_FORMAT_YCbCr_420_888 1280 x 800 HAL_PIXEL_FORMAT_BLOB 1280 x 768 HAL_PIXEL_FORMAT_YCbCr_420_888 1280 x 768 HAL_PIXEL_FORMAT_BLOB 1280 x 720 HAL_PIXEL_FORMAT_YCbCr_420_888 1280 x 720 HAL_PIXEL_FORMAT_BLOB 1024 x 738 HAL_PIXEL_FORMAT_YCbCr_420_888 1024 x 738 HAL_PIXEL_FORMAT_BLOB 1024 x 768 HAL_PIXEL_FORMAT_YCbCr_420_888 1024 x 768 HAL_PIXEL_FORMAT_BLOB 864 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888 864 x 480 HAL_PIXEL_FORMAT_BLOB 800 x 600 HAL_PIXEL_FORMAT_YCbCr_420_888 800 x 600 HAL_PIXEL_FORMAT_BLOB 800 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888 800 x 480 HAL_PIXEL_FORMAT_BLOB 720 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888 720 x 480 HAL_PIXEL_FORMAT_BLOB 640 x 512 HAL_PIXEL_FORMAT_YCbCr_420_888 640 x 512 HAL_PIXEL_FORMAT_BLOB 640 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888 640 x 480 HAL_PIXEL_FORMAT_BLOB 640 x 400 HAL_PIXEL_FORMAT_YCbCr_420_888 640 x 400 HAL_PIXEL_FORMAT_BLOB 640 x 360 HAL_PIXEL_FORMAT_YCbCr_420_888 640 x 360 HAL_PIXEL_FORMAT_BLOB 352 x 288 HAL_PIXEL_FORMAT_YCbCr_420_888 352 x 288 HAL_PIXEL_FORMAT_BLOB 320 x 240 HAL_PIXEL_FORMAT_YCbCr_420_888 320 x 240 HAL_PIXEL_FORMAT_BLOB 240 x 320 HAL_PIXEL_FORMAT_YCbCr_420_888 240 x 320 HAL_PIXEL_FORMAT_BLOB 176 x 144 HAL_PIXEL_FORMAT_YCbCr_420_888 176 x 144 HAL_PIXEL_FORMAT_BLOB 1280 x 800 HAL_PIXEL_FORMAT_RAW10 1280 x 800 HAL_PIXEL_FORMAT_RAW12 1280 x 800 HAL_PIXEL_FORMAT_RAW16 1280 x 800 HAL_PIXEL_FORMAT_RAW_OPAQUE ANDROID_SENSOR_INFO_SENSITIVITY_RANGE min = 54 max = 1596 ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY 1596 ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE min = 0ns max = 1318629735ns ==================================== Stats for camera: 1 ANDROID_SCALER_AVAILABLE_RAW_SIZES: These are likely supported by the sensor 4056 x 3040 3840 x 2160 1920 x 1080 1920 x 1080 1920 x 1080 1280 x 720 1280 x 720 ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS: These are NOT necessarily supported by the sensor 4056 x 3040 HAL_PIXEL_FORMAT_YCbCr_420_888 4056 x 3040 HAL_PIXEL_FORMAT_BLOB 4000 x 3000 HAL_PIXEL_FORMAT_YCbCr_420_888 4000 x 3000 HAL_PIXEL_FORMAT_BLOB 3840 x 2160 HAL_PIXEL_FORMAT_YCbCr_420_888 3840 x 2160 HAL_PIXEL_FORMAT_BLOB 3264 x 2448 HAL_PIXEL_FORMAT_YCbCr_420_888 3264 x 2448 HAL_PIXEL_FORMAT_BLOB 3200 x 2400 HAL_PIXEL_FORMAT_YCbCr_420_888 3200 x 2400 HAL_PIXEL_FORMAT_BLOB 2976 x 2976 HAL_PIXEL_FORMAT_YCbCr_420_888 2976 x 2976 HAL_PIXEL_FORMAT_BLOB 2688 x 1512 HAL_PIXEL_FORMAT_YCbCr_420_888 2688 x 1512 HAL_PIXEL_FORMAT_BLOB 2592 x 1944 HAL_PIXEL_FORMAT_YCbCr_420_888 2592 x 1944 HAL_PIXEL_FORMAT_BLOB 2048 x 1536 HAL_PIXEL_FORMAT_YCbCr_420_888 2048 x 1536 HAL_PIXEL_FORMAT_BLOB 1920 x 1440 HAL_PIXEL_FORMAT_YCbCr_420_888 1920 x 1440 HAL_PIXEL_FORMAT_BLOB 1928 x 1208 HAL_PIXEL_FORMAT_YCbCr_420_888 1928 x 1208 HAL_PIXEL_FORMAT_BLOB 1920 x 1080 HAL_PIXEL_FORMAT_YCbCr_420_888 1920 x 1080 HAL_PIXEL_FORMAT_BLOB 1600 x 1200 HAL_PIXEL_FORMAT_YCbCr_420_888 1600 x 1200 HAL_PIXEL_FORMAT_BLOB 1440 x 1080 HAL_PIXEL_FORMAT_YCbCr_420_888 1440 x 1080 HAL_PIXEL_FORMAT_BLOB 1280 x 960 HAL_PIXEL_FORMAT_YCbCr_420_888 1280 x 960 HAL_PIXEL_FORMAT_BLOB 1280 x 800 HAL_PIXEL_FORMAT_YCbCr_420_888 1280 x 800 HAL_PIXEL_FORMAT_BLOB 1280 x 768 HAL_PIXEL_FORMAT_YCbCr_420_888 1280 x 768 HAL_PIXEL_FORMAT_BLOB 1280 x 720 HAL_PIXEL_FORMAT_YCbCr_420_888 1280 x 720 HAL_PIXEL_FORMAT_BLOB 1080 x 1080 HAL_PIXEL_FORMAT_YCbCr_420_888 1080 x 1080 HAL_PIXEL_FORMAT_BLOB 1024 x 738 HAL_PIXEL_FORMAT_YCbCr_420_888 1024 x 738 HAL_PIXEL_FORMAT_BLOB 1024 x 768 HAL_PIXEL_FORMAT_YCbCr_420_888 1024 x 768 HAL_PIXEL_FORMAT_BLOB 864 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888 864 x 480 HAL_PIXEL_FORMAT_BLOB 800 x 600 HAL_PIXEL_FORMAT_YCbCr_420_888 800 x 600 HAL_PIXEL_FORMAT_BLOB 800 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888 800 x 480 HAL_PIXEL_FORMAT_BLOB 720 x 1280 HAL_PIXEL_FORMAT_YCbCr_420_888 720 x 1280 HAL_PIXEL_FORMAT_BLOB 720 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888 720 x 480 HAL_PIXEL_FORMAT_BLOB 640 x 512 HAL_PIXEL_FORMAT_YCbCr_420_888 640 x 512 HAL_PIXEL_FORMAT_BLOB 640 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888 640 x 480 HAL_PIXEL_FORMAT_BLOB 640 x 400 HAL_PIXEL_FORMAT_YCbCr_420_888 640 x 400 HAL_PIXEL_FORMAT_BLOB 640 x 360 HAL_PIXEL_FORMAT_YCbCr_420_888 640 x 360 HAL_PIXEL_FORMAT_BLOB 352 x 288 HAL_PIXEL_FORMAT_YCbCr_420_888 352 x 288 HAL_PIXEL_FORMAT_BLOB 320 x 240 HAL_PIXEL_FORMAT_YCbCr_420_888 320 x 240 HAL_PIXEL_FORMAT_BLOB 240 x 320 HAL_PIXEL_FORMAT_YCbCr_420_888 240 x 320 HAL_PIXEL_FORMAT_BLOB 176 x 144 HAL_PIXEL_FORMAT_YCbCr_420_888 176 x 144 HAL_PIXEL_FORMAT_BLOB 4056 x 3040 HAL_PIXEL_FORMAT_RAW10 4056 x 3040 HAL_PIXEL_FORMAT_RAW12 4056 x 3040 HAL_PIXEL_FORMAT_RAW16 4056 x 3040 HAL_PIXEL_FORMAT_RAW_OPAQUE 3840 x 2160 HAL_PIXEL_FORMAT_RAW10 3840 x 2160 HAL_PIXEL_FORMAT_RAW12 3840 x 2160 HAL_PIXEL_FORMAT_RAW16 3840 x 2160 HAL_PIXEL_FORMAT_RAW_OPAQUE 1920 x 1080 HAL_PIXEL_FORMAT_RAW10 1920 x 1080 HAL_PIXEL_FORMAT_RAW12 1920 x 1080 HAL_PIXEL_FORMAT_RAW16 1920 x 1080 HAL_PIXEL_FORMAT_RAW_OPAQUE ANDROID_SENSOR_INFO_SENSITIVITY_RANGE min = 100 max = 35200 ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY 2200 ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE min = 0ns max = 243753000ns ==================================== Stats for camera: 2 ANDROID_SCALER_AVAILABLE_RAW_SIZES: These are likely supported by the sensor 1280 x 800 1280 x 800 ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS: These are NOT necessarily supported by the sensor 1280 x 800 HAL_PIXEL_FORMAT_YCbCr_420_888 1280 x 800 HAL_PIXEL_FORMAT_BLOB 1280 x 768 HAL_PIXEL_FORMAT_YCbCr_420_888 1280 x 768 HAL_PIXEL_FORMAT_BLOB 1280 x 720 HAL_PIXEL_FORMAT_YCbCr_420_888 1280 x 720 HAL_PIXEL_FORMAT_BLOB 1024 x 738 HAL_PIXEL_FORMAT_YCbCr_420_888 1024 x 738 HAL_PIXEL_FORMAT_BLOB 1024 x 768 HAL_PIXEL_FORMAT_YCbCr_420_888 1024 x 768 HAL_PIXEL_FORMAT_BLOB 864 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888 864 x 480 HAL_PIXEL_FORMAT_BLOB 800 x 600 HAL_PIXEL_FORMAT_YCbCr_420_888 800 x 600 HAL_PIXEL_FORMAT_BLOB 800 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888 800 x 480 HAL_PIXEL_FORMAT_BLOB 720 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888 720 x 480 HAL_PIXEL_FORMAT_BLOB 640 x 512 HAL_PIXEL_FORMAT_YCbCr_420_888 640 x 512 HAL_PIXEL_FORMAT_BLOB 640 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888 640 x 480 HAL_PIXEL_FORMAT_BLOB 640 x 400 HAL_PIXEL_FORMAT_YCbCr_420_888 640 x 400 HAL_PIXEL_FORMAT_BLOB 640 x 360 HAL_PIXEL_FORMAT_YCbCr_420_888 640 x 360 HAL_PIXEL_FORMAT_BLOB 352 x 288 HAL_PIXEL_FORMAT_YCbCr_420_888 352 x 288 HAL_PIXEL_FORMAT_BLOB 320 x 240 HAL_PIXEL_FORMAT_YCbCr_420_888 320 x 240 HAL_PIXEL_FORMAT_BLOB 240 x 320 HAL_PIXEL_FORMAT_YCbCr_420_888 240 x 320 HAL_PIXEL_FORMAT_BLOB 176 x 144 HAL_PIXEL_FORMAT_YCbCr_420_888 176 x 144 HAL_PIXEL_FORMAT_BLOB 1280 x 800 HAL_PIXEL_FORMAT_RAW10 1280 x 800 HAL_PIXEL_FORMAT_RAW12 1280 x 800 HAL_PIXEL_FORMAT_RAW16 1280 x 800 HAL_PIXEL_FORMAT_RAW_OPAQUE ANDROID_SENSOR_INFO_SENSITIVITY_RANGE min = 54 max = 1596 ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY 1596 ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE min = 0ns max = 1318629735ns ==================================== Stats for camera: 3 ANDROID_SCALER_AVAILABLE_RAW_SIZES: These are likely supported by the sensor 1280 x 800 1280 x 800 ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS: These are NOT necessarily supported by the sensor 1280 x 800 HAL_PIXEL_FORMAT_YCbCr_420_888 1280 x 800 HAL_PIXEL_FORMAT_BLOB 1280 x 768 HAL_PIXEL_FORMAT_YCbCr_420_888 1280 x 768 HAL_PIXEL_FORMAT_BLOB 1280 x 720 HAL_PIXEL_FORMAT_YCbCr_420_888 1280 x 720 HAL_PIXEL_FORMAT_BLOB 1024 x 738 HAL_PIXEL_FORMAT_YCbCr_420_888 1024 x 738 HAL_PIXEL_FORMAT_BLOB 1024 x 768 HAL_PIXEL_FORMAT_YCbCr_420_888 1024 x 768 HAL_PIXEL_FORMAT_BLOB 864 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888 864 x 480 HAL_PIXEL_FORMAT_BLOB 800 x 600 HAL_PIXEL_FORMAT_YCbCr_420_888 800 x 600 HAL_PIXEL_FORMAT_BLOB 800 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888 800 x 480 HAL_PIXEL_FORMAT_BLOB 720 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888 720 x 480 HAL_PIXEL_FORMAT_BLOB 640 x 512 HAL_PIXEL_FORMAT_YCbCr_420_888 640 x 512 HAL_PIXEL_FORMAT_BLOB 640 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888 640 x 480 HAL_PIXEL_FORMAT_BLOB 640 x 400 HAL_PIXEL_FORMAT_YCbCr_420_888 640 x 400 HAL_PIXEL_FORMAT_BLOB 640 x 360 HAL_PIXEL_FORMAT_YCbCr_420_888 640 x 360 HAL_PIXEL_FORMAT_BLOB 352 x 288 HAL_PIXEL_FORMAT_YCbCr_420_888 352 x 288 HAL_PIXEL_ FORMAT_BLOB 320 x 240 HAL_PIXEL_FORMAT_YCbCr_420_888 320 x 240 HAL_PIXEL_FORMAT_BLOB 240 x 320 HAL_PIXEL_FORMAT_YCbCr_420_888 240 x 320 HAL_PIXEL_FORMAT_BLOB 176 x 144 HAL_PIXEL_FORMAT_YCbCr_420_888 176 x 144 HAL_PIXEL_FORMAT_BLOB 1280 x 800 HAL_PIXEL_FORMAT_RAW10 1280 x 800 HAL_PIXEL_FORMAT_RAW12 1280 x 800 HAL_PIXEL_FORMAT_RAW16 1280 x 800 HAL_PIXEL_FORMAT_RAW_OPAQUE ANDROID_SENSOR_INFO_SENSITIVITY_RANGE min = 54 max = 1596 ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY 1596 ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE min = 0ns max = 1318629735ns ==================================== Number of cameras detected: 4 ==================================== ## Reply by Alex Kushleyev (ModalAI staff) · 2025-06-09 02:15:01 UTC (in reply to Hector Gutierrez) @Hector-Gutierrez , When you were looking for cameras in `voxl-portal` - was the `voxl-camera-server` actually running? you need to make sure that it's running (either as a background service, which normally starts up using systemd right after boot, or manually if you are running the camera server in a terminal in the foreground). It does look like the 3 AR0144 and 1 IMX412 were detected, so lets first make sure you can view those corresponding streams first. Alex ## Reply by Hector Gutierrez · 2025-06-09 20:14:01 UTC (in reply to Alex Kushleyev) @Alex-Kushleyev Yes, voxl-camera-server was running. In fact I stopped it and started it again to be sure it was running. I also checked with voxl-inspect-services and it showed the camera server was running. And yet I cannot open any of the cameras on voxl Portal - the portal starts properly but there are no cameras. And also the IMU plots look empty. And the ToF sensor is not being detected ... Please let me know what to try next. Thanks, Hector ## Reply by Alex Kushleyev (ModalAI staff) · 2025-06-09 21:35:09 UTC (in reply to Hector Gutierrez) @Hector-Gutierrez , with the voxl-camera-server running on the foreground, please run the following and monitor the output of voxl-camera-server as well: ``` voxl-inspect-cam -a ``` This test should connect to ALL the camera streams generated by the voxl-camera-server and print out the stats. Alex ## Reply by Hector Gutierrez · 2025-06-09 22:19:35 UTC (in reply to Alex Kushleyev) @Alex-Kushleyev Thanks for the prompt reply. I receive the following output: Pipe Name | bytes | wide | hgt |exp(ms)| gain | frame id |latency(ms)| fps | mbpt | hires_large_color |18495360 | 4056 | 3040 | 16.67 | 747 | 1880 | 93.2 | 30.0 | 44422 | hires_large_encoded | 2064 | 4056 | 3040 | 16.67 | 747 | 1879 | 100.0 | 30.0 | 0 | hires_large_grey |12330240 | 4056 | 3040 | 16.67 | 747 | 1880 | 72.2 | 30.0 | 29618 | hires_small_color | 1179648 | 1024 | 768 | 16.67 | 747 | 1880 | 50.4 | 30.0 | 2832 | hires_small_encoded | 256 | 1024 | 768 | 16.67 | 747 | 1880 | 61.6 | 30.0 | 0 | hires_small_grey | 786432 | 1024 | 768 | 16.67 | 747 | 1881 | 48.4 | 30.0 | 1888 | hires_snapshot | | ov_overlay | 3235840 | 1280 | 2528 | 6.81 | 614 | 1640 | 84.2 | 4.7 | 1228 | tracking_down | 1024000 | 1280 | 800 | 6.90 | 614 | 1647 | 34.1 | 30.0 | 2458 | tracking_down_bayer | 1024000 | 1280 | 800 | 6.90 | 614 | 1647 | 33.7 | 30.0 | 2458 | tracking_down_misp_grey | 1024000 | 1280 | 800 | 6.73 | 570 | 1648 | 33.3 | 30.0 | 2458 | tracking_down_misp_norm | 1024000 | 1280 | 800 | 6.73 | 570 | 1648 | 36.3 | 30.0 | 2458 | tracking_front | 1024000 | 1280 | 800 | 5.63 | 307 | 1648 | 33.5 | 30.0 | 2458 | tracking_front_bayer | 1024000 | 1280 | 800 | 5.63 | 307 | 1648 | 33.7 | 30.0 | 2458 | tracking_front_misp_grey | 1024000 | 1280 | 800 | 5.63 | 307 | 1648 | 30.2 | 30.0 | 2458 | tracking_front_misp_norm | 1024000 | 1280 | 800 | 5.63 | 307 | 1648 | 35.5 | 30.0 | 2458 | tracking_rear | 1024000 | 1280 | 800 | 5.32 | 192 | 1649 | 33.9 | 30.0 | 2458 | tracking_rear_bayer | 1024000 | 1280 | 800 | 5.32 | 192 | 1649 | 33.1 | 30.0 | 2458 | tracking_rear_misp_grey | 1024000 | 1280 | 800 | 5.32 | 192 | 1649 | 31.5 | 30.0 | 2458 | tracking_rear_misp_norm | 1024000 | 1280 | 800 | 5.32 | 192 | 1649 | 35.1 | 30.0 | 2458 Still dont see the ToF sensor ... Please advise Thanks, Hector ## Reply by Alex Kushleyev (ModalAI staff) · 2025-06-09 22:24:30 UTC (in reply to Hector Gutierrez) @Hector-Gutierrez , OK, so it looks like that the 4 detected cameras are actually streaming data. I am not sure why `voxl-portal` is not showing any cameras. When you access the `voxl-portal` via browser, do you see the actual portal (with green menu bar at the top), but no cameras are listed in the Cameras section? How are you connected to the drone? (wifi, adb, etc). Regarding the TOF sensor, since `voxl-camera-server -l` did not show that the TOF sensor is detected, the stream is not available. Please double check that `com.qti.sensormodule.irs2975c*` file is in `/usr/lib/camera/` directory - please provide the exact name or let me know if it's missing. Also, can you please take a picture of your cameras plugged into the M0173 camera front end? I just want to make sure the TOF sensor is plugged in correctly. Alex ## Reply by Hector Gutierrez · 2025-06-09 22:46:59 UTC (in reply to Alex Kushleyev) @Alex-Kushleyev Hi Alex, I disassembled and reassembled the camera board and now I get 4 cameras in VOXL Portal ! I did reconnect the ToF sensor as well to the camera board, it seems properly connected. The cameras working well are hires_large_color, and all three tracking cameras. I still dont see the ToF sensor , and the view of the hires camera is blurry (out of focus). The hires camera was recently replaced, so how to get it into focus is another question. I listed the files on /usr/lib/camera and found this file: com.qti.sensormodule.irs2975c_3.bin So now we are down to the ToF sensor (and to put the hires camera in focus). Let me know what to try next ! thanks, Hector ## Reply by Alex Kushleyev (ModalAI staff) · 2025-06-10 02:56:31 UTC (in reply to Hector Gutierrez) @Hector-Gutierrez , in order to focus the hires camera (I am assuming IMX412), you can twist the lens in the M12 lens holder. Normally we do focus the hires cameras to a norminal focus distance, but maybe you had one from earlier batch which was not focused. Also, focus of the camera depends on the application, so it is recommended for users to double check and correct the focus for their needs. If there is some sealant on the threads, it is not permanent and can be removed using tweezers - loosening it up a bit should allow you to twist the lens inside the holder. Regarding the PMD TOF, not sure yet. Has it worked before? Alex ## Reply by Hector Gutierrez · 2025-06-10 14:20:25 UTC (in reply to Hector Gutierrez) @Hector-Gutierrez Hi Alex - As you suggested, the focus issue was resolved by twisting the lens until good focus at 3 m. was achieved. The TOF sensor remains a problem. I've tried detaching and reconnecting its cable (on both ends) but no luck so far. Both VOXL Portal and voxl-camera-server -l only see 4 cameras. We didnt use the TOF sensor before so I didnt notice if it was working previously or not. Please let me know what to try next - thanks, Hector ## Reply by Alex Kushleyev (ModalAI staff) · 2025-06-10 14:22:45 UTC (in reply to Hector Gutierrez) @Hector-Gutierrez , can you please send a picture of the TOF sensor connected to M0173? Just to make sure the connections are correct. ## Reply by Hector Gutierrez · 2025-06-10 15:24:40 UTC (in reply to Alex Kushleyev) @Alex-Kushleyev Hi Alex - attached are some pictures of the connection. Something odd is happening. The connector engages its socket in two different locations relative to the hole for the screw. In the centered location (where it should be!) the TOF sensor causes a power short and the drone wont boot (see picture with red LED). In the off-center location there is no short and the drone boots, but I only get 4 cameras and the TOF is not visible. ![centered.jpg](Request Entity Too Large) ![off-center1.jpg](Request Entity Too Large) ![off-center2.jpg](Request Entity Too Large) ![power-short.jpg](Request Entity Too Large) ## Reply by Hector Gutierrez · 2025-06-10 15:29:05 UTC (in reply to Hector Gutierrez) @Hector-Gutierrez Download link for the pictures in case they did not attach to previous message: https://quickconnect.to/asapstorage/d/s/13iMi9oRZUxhkQYoW2DCHtZ7nI9HgYJx/bj3PLF8EXd5pKdKgwphVqcbD7VaaMBQX-V7WAgk58WAw ## Reply by Hector Gutierrez · 2025-06-10 15:45:36 UTC (in reply to Hector Gutierrez) @Hector-Gutierrez Update from my previous post. I install the TOF connector in the centered location and fully attach the screws (including the one that secures the TOF ribbon cable). There is no short, the drone start normally, and I get 4 cameras on VOXL portal, but no TOF. Also voxl-camera-server -l only see 4 cameras. So TOF connection is definitely Ok, but sensor not present. ## Reply by Alex Kushleyev (ModalAI staff) · 2025-06-12 20:15:56 UTC (in reply to Hector Gutierrez) @Hector-Gutierrez , I am sorry, i was not able to access the image you shared. Can you please just resize / crop the image so that it fits into the forum? Just please make sure the details are still easy to see. Thank you! Alex ## Reply by Hector Gutierrez · 2025-06-13 15:38:45 UTC (in reply to Alex Kushleyev) @Alex-Kushleyev Hi Alex - attached are the pictures. ![centered.jpg](https://forum.modalai.com/assets/uploads/files/1749828978969-centered.jpg) ![off-center1.jpg](https://forum.modalai.com/assets/uploads/files/1749828987533-off-center1.jpg) After installing the TOF connector in the centered location and fully attach all the screws (including the one that secures the TOF ribbon cable), there is no short and the drone starts normally. I get 4 cameras on VOXL portal, but no TOF. Also voxl-camera-server -l only see 4 cameras. So TOF connection seems definitely Ok, but sensor not present. Seems to me like a bad TOF sensor - let me know your thoughts. ## Reply by Hector Gutierrez · 2025-06-13 15:40:30 UTC (in reply to Hector Gutierrez) @Hector-Gutierrez Clarification on the pictures. The top picture is the centered position of the TOF ribbon cable. The bottom picture can be disregarded. The connection is done on the centered position (top picture). Thanks. ## Reply by Hector Gutierrez · 2025-06-20 20:56:46 UTC (in reply to Alex Kushleyev) @Alex-Kushleyev - Any updates on this thread ? Let me know if there is anything else I could try or if you consider this a hardware problem with the PMD sensor itself. Thanks, Hector ## Reply by Alex Kushleyev (ModalAI staff) · 2025-07-05 19:33:51 UTC (in reply to Hector Gutierrez) @Hector-Gutierrez , sorry about the delay.. Before submitting RMA (i will provide instructions), can you please share the output of dmesg after you run `voxl-camera-server -l` ? this will let me confirm that there is an attempt to ping the TOF sensor and it fails. You could save the output of dmesg into a text file and share it or paste it here. A successful dmesg output should look something like this (this is from a Starling 2 Max), which has an extra IMX412 camera: ``` [ 1712.362675] CAM_ERR: CAM-MEM: cam_mem_mgr_create_debug_fs: 126 failed to create dentry [ 1712.383711] CAM_INFO: CAM-HFI: cam_hfi_init: 878 Init IO1 : [0x10c00000 0xcf300000] IO2 [0xe0200000 0x1ed00000] [ 1712.393864] CAM_INFO: CAM-ICP: cam_icp_mgr_process_dbg_buf: 2572 FW_DBG:CICP_FW_E : HFI :QC_IMAGE_VERSION_STRING=CICP.FW.1.0-00079,OEM_IMAGE_VERSION_STRING=CRM,BUILD_TIME: Oct 17 2019 05:49:19,CACHE_ENABLED at icphostinterface.c:636 QC_IMAGE_VERSION_STRING=CICP.FW.1.0-00079 OEM_IMAGE_VERSION_STRING=CRM [ 1712.393868] CAM_INFO: CAM-ICP: cam_icp_mgr_process_dbg_buf: 2572 FW_DBG:CICP_FW_E : HFI :ELF variant: CACHE-ENABLED:T480:API_V2:USE_CDM_1_1: , API version: 0x2000049 at icphostinterface.c:637 QC_IMAGE_VERSION_STRING=CICP.FW.1.0-00079 OEM_IMAGE_VERSION_STRING=CRM [ 1712.393916] CAM_INFO: CAM-ICP: cam_icp_mgr_hw_open: 3879 FW download done successfully [ 1712.470777] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.58 [ 1712.472096] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.56 [ 1712.474369] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.60 [ 1712.474408] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.79 [ 1712.498846] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 918 Probe success,slot:0,slave_addr:0x30,sensor_id:0x356 [ 1712.498997] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Dropping the link to regulator.79 [ 1712.502731] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Dropping the link to regulator.60 [ 1712.502868] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Dropping the link to regulator.56 [ 1712.502981] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Dropping the link to regulator.58 [ 1712.526976] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.58 [ 1712.527116] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.60 [ 1712.527175] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.56 [ 1712.527326] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.79 [ 1712.541852] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 918 Probe success,slot:1,slave_addr:0x34,sensor_id:0x577 [ 1712.541967] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.79 [ 1712.543257] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.56 [ 1712.543316] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.60 [ 1712.543392] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.58 [ 1712.561608] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.60 [ 1712.563718] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.59 [ 1712.565875] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.55 [ 1712.567770] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.79 [ 1712.575483] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 918 Probe success,slot:3,slave_addr:0x7a,sensor_id:0x2975 [ 1712.577616] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.79 [ 1712.579717] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.55 [ 1712.579758] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.60 [ 1712.579812] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.59 [ 1712.604128] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor6: Linked as a consumer to regulator.58 [ 1712.606318] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor6: Linked as a consumer to regulator.56 [ 1712.608394] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor6: Linked as a consumer to regulator.60 [ 1712.608473] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor6: Linked as a consumer to regulator.79 [ 1712.631999] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 918 Probe success,slot:6,slave_addr:0x30,sensor_id:0x356 [ 1712.632517] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor6: Dropping the link to regulator.79 [ 1712.636492] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor6: Dropping the link to regulator.60 [ 1712.636595] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor6: Dropping the link to regulator.56 [ 1712.636686] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor6: Dropping the link to regulator.58 [ 1712.662182] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Linked as a consumer to regulator.59 [ 1712.662338] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Linked as a consumer to regulator.60 [ 1712.662399] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Linked as a consumer to regulator.56 [ 1712.662543] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Linked as a consumer to regulator.79 [ 1712.677605] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 918 Probe success,slot:2,slave_addr:0x34,sensor_id:0x577 [ 1712.677728] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Dropping the link to regulator.79 [ 1712.679699] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Dropping the link to regulator.56 [ 1712.679736] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Dropping the link to regulator.60 [ 1712.679789] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Dropping the link to regulator.59 [ 1712.739998] CAM_WARN: CAM-CRM: cam_req_mgr_close: 160 release invoked associated userspace process has died ``` Specifically, the following line says that the TOF sensor has been probed successfully: ``` [ 1712.575483] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 918 Probe success,slot:3,slave_addr:0x7a,sensor_id:0x2975 ``` If the probe fails, you would see some CCI errors. If you do not see anything related to slave address 0x7a , the the sensor is not being probed and the issue is on the SW configuration side, which we can investigate further. Alex ## Reply by Hector Gutierrez · 2025-07-07 14:52:36 UTC (in reply to Alex Kushleyev) @Alex-Kushleyev said in [Starling 2: TOF sensor not recognized by VOXL Portal](/post/22879): > > [ 1712.679736] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Dropping the link to regulator.60 Can you send me the syntax to get the dmesg output from voxl-camera-server -l ? I've tried a few options but I do not get an output that looks like the one you show. Thanks. ## Reply by Hector Gutierrez · 2025-07-07 15:16:29 UTC (in reply to Alex Kushleyev) @Alex-Kushleyev : got the output of dmesg. It is too large to cut and paste here, but you can download the text file from this link: https://quickconnect.to/asapstorage/d/s/144lSyeQPPdNEZhCoWVCOjXUTudhlakC/Yfk8uh0E8Vk96kuc_96XHvRM6svAJSIF-bLWAR1fcaQw (dont click on the link: copy and paste to a browser window). Or send me the syntax to get a filtered output as you have above. Thanks. ## Reply by Alex Kushleyev (ModalAI staff) · 2025-07-07 16:54:22 UTC (in reply to Hector Gutierrez) @Hector-Gutierrez You need to use the formatted text quote, click an icon above that looks like this: I dont think i can access the dmesg file you shared. Here is how you can generate a short version with just what i need to see: - run “dmesg -w” run view continuous out put from dmesg - press enter a few times to create a few empty lines that you can find later - run “voxl-camera-server -l” in another terminal - copy past just the new lines that appeared, which you should see based on the extra newlines you created Alex ## Reply by Hector Gutierrez · 2025-07-07 22:53:20 UTC (in reply to Alex Kushleyev) @Alex-Kushleyev : here is the output: ``` [ 206.798954] RTW: wlan0- hw port(0) mac_addr =00:c0:ca:b3:a6:e5 [ 206.801089] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x40d00 [ 206.801105] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x40d00 [ 215.356522] CAM_INFO: CAM-CRM: cam_req_mgr_process_flush_req: 2177 Last request id to flush is 5890 [ 215.356586] CAM_INFO: CAM-ISP: __cam_isp_ctx_flush_req_in_top_state: 3046 Last request id to flush is 5890 [ 215.356694] CAM_INFO: CAM-ISP: __cam_isp_ctx_flush_req_in_top_state: 3069 Stop HW complete. Reset HW next. [ 215.367444] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 1117 CAM_STOP_DEV Success, sensor_id:0x356,sensor_slave_addr:0x30 [ 215.367450] CAM_INFO: CAM-CSIPHY: cam_csiphy_core_cfg: 982 STOP_DEV: CSIPHY_IDX: 0, Device_slot: 0, Datarate: 592000000, Settletime: 2800000000 [ 215.367473] CAM_INFO: CAM-ISP: cam_ife_mgr_release_hw: 4755 Release HW success ctx id: 2 [ 215.368902] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Dropping the link to regulator.79 [ 215.372057] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Dropping the link to regulator.60 [ 215.372072] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Dropping the link to regulator.56 [ 215.372085] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Dropping the link to regulator.58 [ 215.372128] CAM_INFO: CAM: cam_res_mgr_shared_pinctrl_put: 270 Need hold put this pinctrl [ 215.372143] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 1047 CAM_RELEASE_DEV Success, sensor_id:0x356,sensor_slave_addr:0x30 [ 216.395442] msm_vidc: err : 00000002: h264e: msm_comm_flush: Already in flush [ 216.508604] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 1117 CAM_STOP_DEV Success, sensor_id:0x577,sensor_slave_addr:0x34 [ 216.508616] CAM_INFO: CAM-CSIPHY: cam_csiphy_core_cfg: 982 STOP_DEV: CSIPHY_IDX: 1, Device_slot: 0, Datarate: 1500000000, Settletime: 2200000000 [ 216.515038] CAM_INFO: CAM-ISP: cam_ife_mgr_release_hw: 4755 Release HW success ctx id: 0 [ 216.515922] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.79 [ 216.517960] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.56 [ 216.517973] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.60 [ 216.517986] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.58 [ 216.518049] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 1047 CAM_RELEASE_DEV Success, sensor_id:0x577,sensor_slave_addr:0x34 [ 216.618202] CAM_INFO: CAM-CRM: cam_req_mgr_process_flush_req: 2177 Last request id to flush is 5927 [ 216.618268] CAM_INFO: CAM-ISP: __cam_isp_ctx_flush_req_in_top_state: 3046 Last request id to flush is 5927 [ 216.618374] CAM_INFO: CAM-ISP: __cam_isp_ctx_flush_req_in_top_state: 3069 Stop HW complete. Reset HW next. [ 216.621881] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 1117 CAM_STOP_DEV Success, sensor_id:0x356,sensor_slave_addr:0x30 [ 216.621891] CAM_INFO: CAM-CSIPHY: cam_csiphy_core_cfg: 982 STOP_DEV: CSIPHY_IDX: 2, Device_slot: 0, Datarate: 592000000, Settletime: 2800000000 [ 216.628363] CAM_INFO: CAM-ISP: cam_ife_mgr_release_hw: 4755 Release HW success ctx id: 3 [ 216.629040] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Dropping the link to regulator.79 [ 216.633125] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Dropping the link to regulator.60 [ 216.633166] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Dropping the link to regulator.56 [ 216.633212] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Dropping the link to regulator.59 [ 216.633667] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 1047 CAM_RELEASE_DEV Success, sensor_id:0x356,sensor_slave_addr:0x30 [ 216.687846] CAM_INFO: CAM-CRM: cam_req_mgr_process_flush_req: 2177 Last request id to flush is 5930 [ 216.687904] CAM_INFO: CAM-ISP: __cam_isp_ctx_flush_req_in_top_state: 3046 Last request id to flush is 5930 [ 216.687998] CAM_INFO: CAM-ISP: __cam_isp_ctx_flush_req_in_top_state: 3069 Stop HW complete. Reset HW next. [ 216.692371] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 1117 CAM_STOP_DEV Success, sensor_id:0x356,sensor_slave_addr:0x30 [ 216.692383] CAM_INFO: CAM-CSIPHY: cam_csiphy_core_cfg: 982 STOP_DEV: CSIPHY_IDX: 0, Device_slot: 1, Datarate: 592000000, Settletime: 2800000000 [ 216.698841] CAM_INFO: CAM-ISP: cam_ife_mgr_release_hw: 4755 Release HW success ctx id: 1 [ 216.699769] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor6: Dropping the link to regulator.79 [ 216.703840] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor6: Dropping the link to regulator.60 [ 216.703886] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor6: Dropping the link to regulator.56 [ 216.703919] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor6: Dropping the link to regulator.58 [ 216.705006] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 1047 CAM_RELEASE_DEV Success, sensor_id:0x356,sensor_slave_addr:0x30 [ 216.712597] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x30080 [ 216.721134] CAM_WARN: CAM-CRM: cam_req_mgr_close: 160 release invoked associated userspace process has died [ 216.761711] msm_vidc: high: 00000002: h264e: Closed video instance: ffffffeefdebe000 [ 216.761933] msm_vidc: high: 00000001: h264e: Closed video instance: ffffffef0e100000 [ 216.884653] CAM_ERR: CAM-MEM: cam_mem_mgr_create_debug_fs: 126 failed to create dentry [ 216.895769] CAM_INFO: CAM-HFI: cam_hfi_init: 878 Init IO1 : [0x10c00000 0xcf300000] IO2 [0xe0200000 0x1ed00000] [ 216.906058] CAM_INFO: CAM-ICP: cam_icp_mgr_hw_open: 3879 FW download done successfully [ 216.906072] CAM_INFO: CAM-ICP: cam_icp_mgr_process_dbg_buf: 2572 FW_DBG:CICP_FW_E : HFI :QC_IMAGE_VERSION_STRING=CICP.FW.1.0-00079,OEM_IMAGE_VERSION_STRING=CRM,BUILD_TIME: Oct 17 2019 05:49:19,CACHE_ENABLED at icphostinterface.c:636 QC_IMAGE_VERSION_STRING=CICP.FW.1.0-00079 OEM_IMAGE_VERSION_STRING=CRM [ 216.906084] CAM_INFO: CAM-ICP: cam_icp_mgr_process_dbg_buf: 2572 FW_DBG:CICP_FW_E : HFI :ELF variant: CACHE-ENABLED:T480:API_V2:USE_CDM_1_1: , API version: 0x2000049 at icphostinterface.c:637 QC_IMAGE_VERSION_STRING=CICP.FW.1.0-00079 OEM_IMAGE_VERSION_STRING=CRM [ 216.929300] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.58 [ 216.931458] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.56 [ 216.933569] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.60 [ 216.933607] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Linked as a consumer to regulator.79 [ 216.956534] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 918 Probe success,slot:0,slave_addr:0x30,sensor_id:0x356 [ 216.956636] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Dropping the link to regulator.79 [ 216.960823] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Dropping the link to regulator.60 [ 216.960951] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Dropping the link to regulator.56 [ 216.961062] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor0: Dropping the link to regulator.58 [ 216.986327] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.58 [ 216.986474] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.60 [ 216.986534] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.56 [ 216.986670] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Linked as a consumer to regulator.79 [ 217.000967] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 918 Probe success,slot:1,slave_addr:0x34,sensor_id:0x577 [ 217.001068] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.79 [ 217.003181] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.56 [ 217.003308] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.60 [ 217.003456] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor1: Dropping the link to regulator.58 [ 217.029376] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Linked as a consumer to regulator.59 [ 217.031600] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Linked as a consumer to regulator.56 [ 217.033826] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Linked as a consumer to regulator.60 [ 217.033928] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Linked as a consumer to regulator.79 [ 217.057861] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 918 Probe success,slot:2,slave_addr:0x30,sensor_id:0x356 [ 217.058009] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Dropping the link to regulator.79 [ 217.062570] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Dropping the link to regulator.60 [ 217.062700] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Dropping the link to regulator.56 [ 217.062812] qcom,camera ac50000.qcom,cci:qcom,cam-sensor2: Dropping the link to regulator.59 [ 217.085707] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.60 [ 217.087825] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.59 [ 217.089993] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.55 [ 217.092187] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Linked as a consumer to regulator.79 [ 217.695551] RTW: wlan0- hw port(0) mac_addr =00:c0:ca:b3:a6:e5 [ 218.274338] msm_vidc: err : ffffffff: .....: DBLP Set: status 0 [ 218.624174] CAM_ERR: CAM-CCI: cam_cci_read: 1320 wait_for_completion_timeout rc = -110 FIFO buf_lvl: 0x0 [ 220.128139] CAM_ERR: CAM-CCI: cam_cci_flush_queue: 53 wait timeout [ 220.128236] CAM_ERR: CAM-CCI: cam_cci_read_bytes: 1613 failed to read rc:-110 [ 220.128248] CAM_ERR: CAM-SENSOR: cam_cci_i2c_read: 35 rc = -110 [ 220.128262] CAM_WARN: CAM-SENSOR: cam_sensor_match_id: 707 read id: 0x0 expected id 0x2975: [ 220.130622] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.79 [ 220.132521] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.55 [ 220.132641] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.60 [ 220.132787] qcom,camera ac50000.qcom,cci:qcom,cam-sensor3: Dropping the link to regulator.59 [ 220.160433] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor6: Linked as a consumer to regulator.58 [ 220.163839] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor6: Linked as a consumer to regulator.56 [ 220.166217] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor6: Linked as a consumer to regulator.60 [ 220.166422] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor6: Linked as a consumer to regulator.79 [ 220.191299] CAM_INFO: CAM-SENSOR: cam_sensor_driver_cmd: 918 Probe success,slot:6,slave_addr:0x30,sensor_id:0x356 [ 220.191460] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor6: Dropping the link to regulator.79 [ 220.195732] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor6: Dropping the link to regulator.60 [ 220.195860] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor6: Dropping the link to regulator.56 [ 220.195969] qcom,camera ac4f000.qcom,cci:qcom,cam-sensor6: Dropping the link to regulator.58 [ 220.255634] CAM_WARN: CAM-CRM: cam_req_mgr_close: 160 release invoked associated userspace process has died [ 229.072542] RTW: wlan0- hw port(0) mac_addr =00:c0:ca:b3:a6:e5 ``` Let me know what else is needed. Thanks, Hector ## Reply by Alex Kushleyev (ModalAI staff) · 2025-07-09 04:50:44 UTC (in reply to Hector Gutierrez) @Hector-Gutierrez , the following lines mean that the the system is trying to probe the TOF device by communicating with it via I2C (CCI), but the probe fails. ``` [ 218.624174] CAM_ERR: CAM-CCI: cam_cci_read: 1320 wait_for_completion_timeout rc = -110 FIFO buf_lvl: 0x0 [ 220.128139] CAM_ERR: CAM-CCI: cam_cci_flush_queue: 53 wait timeout [ 220.128236] CAM_ERR: CAM-CCI: cam_cci_read_bytes: 1613 failed to read rc:-110 [ 220.128248] CAM_ERR: CAM-SENSOR: cam_cci_i2c_read: 35 rc = -110 [ 220.128262] CAM_WARN: CAM-SENSOR: cam_sensor_match_id: 707 read id: 0x0 expected id 0x2975: ``` Assuming the TOF sensor is actually connected (which we established), it is likely that there is a hardware issue somewhere between M0173 and the TOF sensor (inclusive). My recommendation is to submit an RMA request, referencing this post. You should request a new TOF sensor assembly and M0173 board just in case. Specifically, - qty 1 MSU-M0178-1-01 - qty 1 MDK-M0173-1-00 (bare board) Once you receive these parts, you should first test the new TOF sensor assembly and if that works fine, please send back the bad TOF and the new M0173. If replacing the new TOF sensor still does not work, you may need to try the new M0173 board, carefully disconnecting and re-connecting the camera cables). In either case, please return the extra TOF and M0173 (one of which may be non-functional). If you do have another VOXL2 board, you could first try the new TOF with new M0173 and then the old (currently not working) TOF sensor, just to test that path before swapping M0173 on the Starling 2 drone. To fill out RMA request, please go to https://www.modalai.com/rma and fill out the form. Sorry for the inconvenience! Alex ## Reply by Hector Gutierrez · 2025-07-11 12:40:28 UTC (in reply to Alex Kushleyev) @Alex-Kushleyev - thanks, I submitted the RMA request, will let you know after I have the chance to replace and test the replacement parts. Thanks, Hector