VOXL2 QVIO Auto-Resets & I²C Errors on Startup

yashpatel

Hello Team, I have following questions and respective details,
• What could cause these repeated I²C errors and initial PMIC read failures?
• Is this likely a hardware issue (cabling, sensor, board) or a software/config issue on the VOXL2 side?

Details:
• Platform: VOXL2 (M0054)
• System Image: 1.8.04-M0054-14.1a-perf
• VOXL Suite: 1.5.1
• QVIO Server: 1.2.0

Logs / Observations:
1. I²C (i2c_errors.log)
• Repeated errors:

i2c_geni a84000.i2c / 884000.i2c: i2c error :-107
CAM_ERR: CAM-SENSOR: cam_cci_i2c_read: 35 rc = -22

•	PMIC probe sometimes fails initially but eventually succeeds:

I2C PMIC: i2c_pmic_read failed for 3 retries, rc = -107
i2c_pmic_probe: Couldn't determine initial status rc=-107

•	Pin conflict noted: GPIO_130 already requested by a88000.i2c.

2.	QVIO (qvio.log)
•	Auto-reset triggered due to low feature count:

WARNING auto-resetting due to low feature count

•	2 resets over ~6k frames.
•	Startup warnings: failed to init in time, slow image proc time: 55.28ms.
•	Camera calibration loaded successfully; thread locked to cores 4–7.

3.	Camera Configuration (/etc/modalai/voxl-camera-server.conf)
•	tracking_front (AR0144) → enabled, preview + MISP enabled
•	hires_front (IMX412) → disabled
•	hires_down (IMX412) → enabled, snapshot + small video enabled

Alex Kushleyev

@yashpatel ,

Please see some responses below:

i2c_geni a84000.i2c / 884000.i2c: i2c error :-107

This is likely due to a service that is enabled for a sensor that's not present, so the service is restarting and trying to detect the sensor.

please make sure the voxl-rangefinder-server is not running and also voxl-lepton-server. you can disable the service using systemd : systemctl disable voxl-rangefinder-server.

CAM_ERR: CAM-SENSOR: cam_cci_i2c_read: 35 rc = -22

this one is usually present when you have a sensormodule driver in /usr/lib/camera for a camera that is not actually plugged in, so the probe fails. Double check the cameras that you have plugged in vs sensormodules peresent in the directory above. However, this is usually harmless, if all of your cameras are working properly.

Pin conflict.. We will double check that, but GPIO 130 is on a Board to Board connector that you are most likely not using, so that should not be an issue.

VIO performance..

please review : https://docs.modalai.com/flying-with-vio/
try to identify the condition that caused the low feature count (look at the actual images, if possible). may need some hand-held testing and looking at the output.

Please let us know if you have any other questions.

Alex