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    VOXL2 mini does not boot with camera connected (AR0144 via M0084)

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    • K
      KLindgren
      last edited by

      I have edited /data/modalai/custom_camera_config.txt as below with the M0084 connected on J7 and the AR0144 camera connected on JU.

      J6_LOWER_SENSOR=""
      J6_LOWER_NAME=""
      J6_LOWER_ROTATE="false"
      
      J6_UPPER_SENSOR=""
      J6_UPPER_NAME=""
      J6_UPPER_ROTATE="false"
      
      J7_LOWER_SENSOR=""
      J7_LOWER_NAME=""
      J7_LOWER_ROTATE="false"
      
      J7_UPPER_SENSOR="ar0144"
      J7_UPPER_NAME="tracking1200"
      J7_UPPER_ROTATE="false"
      J7_UPPER_COMBO_MODE="single"
      
      J8_LOWER_SENSOR=""
      J8_LOWER_NAME=""
      J8_LOWER_ROTATE="false"
      
      J8_UPPER_SENSOR=""
      J8_UPPER_NAME=""
      J8_UPPER_ROTATE="false"
      

      Below is the output from running the configuration wizard.

      voxl2-mini:/$ voxl-configure-cameras
      
      Available camera config IDs are as follows:
      
      22 - M0188 Stinger Dual AR0144
      33 - M0188 Stinger IMX664 + dual AR0144
      34 - M0195 Stinger IMX664 + dual AR0144 + boson
      35 - RESERVED for Future Stinger Config
      38 - M0188 Sparrow IMX664 + Triple AR0144
      50 - MVX-T0001 voxl2 mini hires imx664
      51 - MVX-T0001 voxl2 mini hires imx664 + boson
      52 - MVX-T0001 voxl2 mini dual hires imx664 + 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
      
      camera server config helper list:
      tracking1200:ar0144:0:
      
      driver binary list:
      /usr/share/modalai/chi-cdk/ar0144/com.qti.sensormodule.ar0144_3.bin
      
      calling camera-server-config-helper tracking1200:ar0144:0:
      ERROR: object missing misp_channels
      successfully wrote this camera config to disk:
      =================================================================
      configuration for 1 cameras:
      
      cam #0
          name:                tracking1200
          sensor type:         ar0144
          isEnabled:           1
          camId:               0
          camId2:              -1
          fps:                 30
          en_rotate:           0
          en_rotate2:          0
      
          en_preview:          1
          pre_width:           1280
          pre_height:          800
          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_misp:             1
          misp_width:          1280
          misp_height:         800
      
          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: 12000
          gain_min           : 54
          gain_max           : 8000
          standby_enabled:     0
          decimator:           1
          independent_exposure:0
      
      fsync_en:            0
      fsync_gpio:          109
      =================================================================
      camera_server_config_helper is done
      camera-server-config-helper succeeded on attempt 1
      leaving fsync pin off
      copying required camera drivers in place
      /usr/share/modalai/chi-cdk/ar0144/com.qti.sensormodule.ar0144_3.bin
      enabling voxl-camera-server
      
      ------------------------------------------------------------------
      Done Configuring Cameras
      Please power cycle VOXL to load new drivers
      camera server will start on next reboot
      ------------------------------------------------------------------
      

      I can also confirm the connectors are seated properly so I must be missing something. Any assistance would be much appreciated!

      K 1 Reply Last reply Reply Quote 0
      • K
        KLindgren @KLindgren
        last edited by

        When reconnecting power, the bright green LED comes on and stays on as opposed to turning off during a successful boot.

        voxl-version below

        voxl2-mini:/$ voxl-version
        ────────────────────────────────────────────────────────────────────────────────
        system-image: 1.8.02-M0104-14.1a-perf
        kernel:       #1 SMP PREEMPT Tue Nov 12 00:00:44 UTC 2024 4.19.125
        ────────────────────────────────────────────────────────────────────────────────
        hw platform:  M0104
        mach.var:     2.0.2
        SKU:          TF-M0104-6-V1-C6
        ────────────────────────────────────────────────────────────────────────────────
        voxl-suite:   1.4.5
        ────────────────────────────────────────────────────────────────────────────────
        Packages:
        Repo:  http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-1.4/binary-arm64/
        Last Updated: 2025-06-27 18:44:11
        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                               0.5.18
        libmodal-exposure                         0.1.4
        libmodal-journal                          0.2.5
        libmodal-json                             0.4.7
        libmodal-pipe                             2.13.1
        libqrb5165-io                             0.5.0
        libvoxl-cci-direct                        0.3.2
        libvoxl-cutils                            0.1.5
        modalai-slpi                              1.1.20
        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                        2.2.1
        voxl-ceres-solver                         2:1.14.0-10
        voxl-configurator                         1.0.1
        voxl-cpu-monitor                          0.6.0
        voxl-docker-support                       1.3.1
        voxl-elrs                                 0.4.7
        voxl-esc                                  1.5.2
        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                           2.1.3-7
        voxl-lepton-server                        1.3.3
        voxl-lepton-tracker                       0.0.4
        voxl-libgphoto2                           0.0.4
        voxl-libuvc                               1.0.7
        voxl-logger                               0.5.3
        voxl-mavcam-manager                       0.5.8
        voxl-mavlink                              0.1.5
        voxl-mavlink-server                       1.4.7
        voxl-modem                                1.1.6
        voxl-mongoose                             7.7.0-2
        voxl-mpa-to-ros                           0.3.9
        voxl-mpa-tools                            1.4.0
        voxl-open-vins                            0.4.19
        voxl-open-vins-server                     0.3.12
        voxl-opencv                               4.5.5-3
        voxl-osd                                  0.1.7
        voxl-platform-mod                         1.0-r0
        voxl-portal                               0.7.10
        voxl-px4                                  1.14.0-2.0.98
        voxl-px4-imu-server                       0.1.2
        voxl-px4-params                           0.7.3
        voxl-qvio-server                          1.2.0
        voxl-remote-id                            0.0.9
        voxl-reset-slpi                           0.0.1
        voxl-state-estimator                      0.0.5
        voxl-streamer                             0.7.5
        voxl-suite                                1.4.5
        voxl-tag-detector                         0.0.4
        voxl-tflite-server                        0.4.1
        voxl-utils                                1.4.7
        voxl-uvc-server                           0.1.7
        voxl-vision-hub                           1.8.21
        voxl-vtx                                  1.3.14
        voxl-wavemux                              0.0.1
        voxl2-io                                  0.0.3
        voxl2-system-image                        1.8.02-r0
        voxl2-wlan                                1.0-r0
        ────────────────────────────────────────────────────────────────────────────────
        
        K 1 Reply Last reply Reply Quote 0
        • K
          KLindgren @KLindgren
          last edited by

          There might be a problem with the voxl-camera-server according to the output of systemctl status voxl-camera-server so I upgraded to the latest version in gitlab (2.2.4) and still get the same status output below.

          voxl2-mini:/$ systemctl status voxl-camera-server 
          ● voxl-camera-server.service - voxl-camera-server
             Loaded: loaded (/usr/bin/voxl-camera-server; enabled; vendor preset: enabled)
             Active: failed (Result: exit-code) since Thu 2025-07-03 17:42:10 UTC; 2min 6s ago
            Process: 2832 ExecStart=/usr/bin/voxl-camera-server (code=exited, status=255)
           Main PID: 2832 (code=exited, status=255)
          
          Jul 03 17:42:08 m0104 systemd[1]: voxl-camera-server.service: Main process exited, code=exited, status=255/n/a
          Jul 03 17:42:08 m0104 systemd[1]: voxl-camera-server.service: Failed with result 'exit-code'.
          Jul 03 17:42:10 m0104 systemd[1]: voxl-camera-server.service: Service hold-off time over, scheduling restart.
          Jul 03 17:42:10 m0104 systemd[1]: voxl-camera-server.service: Scheduled restart job, restart counter is at 3.
          Jul 03 17:42:10 m0104 systemd[1]: Stopped voxl-camera-server.
          Jul 03 17:42:10 m0104 systemd[1]: voxl-camera-server.service: Start request repeated too quickly.
          Jul 03 17:42:10 m0104 systemd[1]: voxl-camera-server.service: Failed with result 'exit-code'.
          Jul 03 17:42:10 m0104 systemd[1]: Failed to start voxl-camera-server.
          
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