Only 2 out of 4 cameras are detected
-
Hello ModalAI Team,
I am working on an indoor drone using VOXL2 Mini, and I would appreciate your guidance regarding a camera detection issue with a multi-sensor setup.
Goal
My goal is to build an indoor drone, primarily relying on visual sensing rather than GPS.
Camera Modules Used
- M0169 – PMD ToF
- M0014 – Tracking Camera
- M0024 – High-Resolution Camera
Hardware Connections
- J6 → M0084
- JU: PMD-ToF (external 5V power supplied to M0169)
- JL: High-Resolution Camera
- J7 → M0135
- JU: Tracking Camera
- JL: Tracking Camera
Observed Issue
When using a custom camera configuration file, "voxl-camera-server" detects only 2 out of 4 cameras:
- Detected: High-Resolution + Tracking (Down)
- Not detected: PMD-ToF + Tracking (Second unit)
Debug Information
While debugging, I consistently get the following error:
ToF resolution not supported (224 × 1557)
And Tracking front is not detected.To address this, I manually modified "/etc/modalai/voxl-camera-server.conf":
- "preview_width": 240
- "preview_height": 180
After restarting "voxl-camera-server", the error still persists(Resolution error), and only 2 cameras are detected.
My Questions
- From an indoor drone perspective, is my approach of using 4 camera sensors (ToF + dual tracking + high-resolution) correct, or would you recommend a different sensor combination?
- Why are only 2 cameras detected despite all 4 being connected correctly?
- Why does the ToF camera still report an unsupported resolution (224 × 1557) even after manually setting the preview resolution?
- Is there any additional configuration required for PMD-ToF when used alongside multiple cameras on VOXL2 Mini?
Any guidance, recommended configuration, or known limitations would be very helpful.