# Sendor suit getting stalled Source: https://forum.modalai.com/topic/4467/sendor-suit-getting-stalled Category: Autonomy: VIO, Mapping and Navigation (https://forum.modalai.com/category/19/autonomy-vio-mapping-and-navigation) Tags: vio Posted: 2025-05-29 13:41:17 UTC by Jetson Nano Replies: 4 · Views: 830 ## Jetson Nano · 2025-05-29 13:41:17 UTC Re: [CAM_MISSING_STALLED](/topic/3705/cam_missing_stalled) @Alex-Kushleyev @tom @modaltb @Eric-Katzfey I would like to reopen the query , which i was never able to solve . I am still facing the same error. this time i am using the new PMD TOF LIOW , with old tracking camer and old hires. The TOF is working perfect but tracking camera is getting stalled. Also this time hires is not at all starting. ``` Starting Camera: hires (id #1) ERROR: Camera 1 failed to find supported stream config: 1024x768 WARNING: Failed to start cam hires due to invalid resolution WARNING: assuming cam is missing and trying to compensate Starting Camera: tracking (originally id #2) with id offset: 1 setting ov7251 BLC register for cam id 1 ------ voxl-camera-server: Started 2 of 3 cameras ------ voxl-camera-server: Camera server is now running WARNING: [ROYALE_WARNING] {ROYALE_FRAME_DROP}: Dropped 5561 frame(s). WARNING: [ROYALE_WARNING] {ROYALE_RAW_FRAME_STATS}: Raw frame drop stats: Bridge 5561 frames dropped, FC 0 frames dropped, 9 frames delivered. WARNING: [ROYALE_WARNING] {ROYALE_FRAME_DROP}: Dropped 9 frame(s). WARNING: [ROYALE_WARNING] {ROYALE_RAW_FRAME_STATS}: Raw frame drop stats: Bridge 9 frames dropped, FC 0 frames dropped, 81 frames delivered. ``` ``` voxl2:/$ voxl-camera-server existing instance of voxl-camera-server found, attempting to stop it detected system image 1.7.10 using new imx214 defaults ================================================================= configuration for 3 cameras: cam #0 name: tof sensor type: pmd-tof-liow2 isEnabled: 1 camId: 0 camId2: -1 fps: 10 en_rotate: 1 en_rotate2: 0 en_preview: 1 pre_width: 240 pre_height: 1629 en_raw_preview: 1 en_small_video: 0 small_video_width: -1 small_video_height: -1 en_large_video: 0 large_video_width: -1 large_video_height: -1 en_snapshot: 0 snap_width: -1 snap_height: -1 exif_focal_length: 0.000000 exif_focal_len_35mm_format:0 exif_fnumber: 0.000000 ae_mode: off msv_exposure_min_us: 0 msv_exposure_max_us: 6000 standby_enabled: 0 decimator: 5 independent_exposure:0 cam #1 name: hires sensor type: imx214 isEnabled: 1 camId: 1 camId2: -1 fps: 30 en_rotate: 0 en_rotate2: 0 en_preview: 0 pre_width: 640 pre_height: 480 en_raw_preview: 0 en_small_video: 1 small_video_width: 1920 small_video_height: 1080 en_large_video: 1 large_video_width: 4208 large_video_height: 3120 en_snapshot: 1 snap_width: 4208 snap_height: 3120 exif_focal_length: 0.000000 exif_focal_len_35mm_format:0 exif_fnumber: 0.000000 ae_mode: isp msv_exposure_min_us: 20 msv_exposure_max_us: 33000 standby_enabled: 0 decimator: 1 independent_exposure:0 cam #2 name: tracking sensor type: ov7251 isEnabled: 1 camId: 2 camId2: -1 fps: 30 en_rotate: 0 en_rotate2: 0 en_preview: 1 pre_width: 640 pre_height: 480 en_raw_preview: 1 en_small_video: 0 small_video_width: -1 small_video_height: -1 en_large_video: 0 large_video_width: -1 large_video_height: -1 en_snapshot: 0 snap_width: -1 snap_height: -1 exif_focal_length: 0.000000 exif_focal_len_35mm_format:0 exif_fnumber: 0.000000 ae_mode: lme_msv msv_exposure_min_us: 20 msv_exposure_max_us: 33000 standby_enabled: 0 decimator: 1 independent_exposure:0 fsync_en: 0 fsync_gpio: 109 ================================================================= connected to mavlink pipe Starting Camera: tof (id #0) Connected to cpu-monitor gbm_create_device(156): Info: backend name is: msm_drm Starting Camera: hires (id #1) ERROR: Camera 1 failed to find supported stream config: 1920x1080 WARNING: Failed to start cam hires due to invalid resolution WARNING: assuming cam is missing and trying to compensate Starting Camera: tracking (originally id #2) with id offset: 1 setting ov7251 BLC register for cam id 1 ------ voxl-camera-server: Started 2 of 3 cameras ------ voxl-camera-server: Camera server is now running WARNING: [ROYALE_WARNING] {ROYALE_FRAME_DROP}: Dropped 44792 frame(s). WARNING: [ROYALE_WARNING] {ROYALE_RAW_FRAME_STATS}: Raw frame drop stats: Bridge 44792 frames dropped, FC 0 frames dropped, 9 frames delivered. WARNING: [ROYALE_WARNING] {ROYALE_FRAME_DROP}: Dropped 9 frame(s). WARNING: [ROYALE_WARNING] {ROYALE_RAW_FRAME_STATS}: Raw frame drop stats: Bridge 9 frames dropped, FC 0 frames dropped, 81 frames delivered. ^C received SIGINT Ctrl-C ------ voxl-camera-server: Camera server is now stopping WARNING: Deleting buffers: 6 of 16 still in use WARNING: Deleting buffers: 6 of 16 still in use ------ voxl-camera-server: Camera server exited gracefully, returning 0 ``` Help me to solve this error . ## Reply by Alex Kushleyev (ModalAI staff) · 2025-05-30 16:37:51 UTC @Jetson-Nano , you probably have incorrect camera IDs in your `voxl-camera-server.conf`. Please check which cameras are detected and note their camera IDs and make sure they correspond to the IDs specificed in `voxl-camera-server.conf`. https://docs.modalai.com/debugging-camera-issues/#checking-which-cameras-are-detected-by-camera-server ## Reply by Jetson Nano · 2025-05-31 08:34:26 UTC (in reply to Alex Kushleyev) @Alex-Kushleyev I had checked the with the command and it did not recognize the hires camera at all and the tracking camera in certain and totally independent conditions. which makes me able to understand what is the cause of error. ``` voxl2:~$ voxl-camera-server -l DEBUG: Attempting to open the hal module DEBUG: SUCCESS: Camera module opened on attempt 0 DEBUG: ----------- Number of cameras: 1 DEBUG: Cam idx: 0, Cam slot: 4, Slave Address: 0x00E2, Sensor Id: 0x7750 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: 1 ==================================== Stats for camera: 0 ANDROID_SCALER_AVAILABLE_RAW_SIZES: These are likely supported by the sensor 640 x 480 640 x 480 640 x 480 ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS: These are NOT necessarily supported by the sensor 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 640 x 480 HAL_PIXEL_FORMAT_RAW10 640 x 480 HAL_PIXEL_FORMAT_RAW12 640 x 480 HAL_PIXEL_FORMAT_RAW16 640 x 480 HAL_PIXEL_FORMAT_RAW_OPAQUE ANDROID_SENSOR_INFO_SENSITIVITY_RANGE min = 54 max = 3451 ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY 3451 ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE min = 0ns max = 1266732525ns ==================================== Number of cameras detected: 1 ==================================== ``` ## Reply by Alex Kushleyev (ModalAI staff) · 2025-06-02 17:11:47 UTC (in reply to Jetson Nano) @Jetson-Nano , please make sure that for every camera that you have connected, you have the correct `sensormodule` placed in `/usr/lib/camera` and corresponding entry in `/etc/voxl-camera-server.conf`. More info here : https://docs.modalai.com/configure-cameras/#connect-a-new-camera If you still need help, please list all the cameras when where exactly they are connected (which camera connector on VOXL2, which interposer flex is used, and which slot ID you think the camera should be recognized as). Also, please list the contents of your `/usr/lib/camera/*sensormodule*`. Thank you Alex ## Reply by Jetson Nano · 2025-06-02 18:02:00 UTC (in reply to Alex Kushleyev) @Alex-Kushleyev Thank you for reverting, I will check this out and get back to you