# Custom voxl-camera-server config service aborts itself Source: https://forum.modalai.com/topic/5426/custom-voxl-camera-server-config-service-aborts-itself Category: ESCs, Sensors and Accessories (https://forum.modalai.com/category/15/escs-sensors-and-accessories) Posted: 2026-09-21 19:09:18 UTC by ApoorvThapliyal Replies: 0 · Views: 12 ## ApoorvThapliyal · 2026-09-21 19:09:18 UTC **Hardware:** (board / drone / SKU, serial # if you have it) VOXL2 (Custom drone) **Software version:** (paste the output of `voxl-version`) ```bash dpkg-query: package 'voxl-suite' is not installed and no information is available Use dpkg --info (= dpkg-deb --info) to examine archive files, and dpkg --contents (= dpkg-deb --contents) to list their contents. -------------------------------------------------------------------------------- system-image: 1.8.02-M0054-14.1a-perf kernel: #1 SMP PREEMPT Mon Nov 11 22:47:44 UTC 2024 4.19.125 -------------------------------------------------------------------------------- hw platform: M0054 mach.var: 1.0.1 -------------------------------------------------------------------------------- voxl-suite: -------------------------------------------------------------------------------- Packages: Repo: http://voxl-packages.modalai.com/ qrb5165 sdk-1.6 Last Updated: 2026-09-08 20:00:54 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 1.0.12-202603311017 libmodal-cv 0.6.1 libmodal-exposure 0.1.5 libmodal-flow 1.0.5 libmodal-journal 0.2.7 libmodal-json 0.4.8 libmodal-pipe 2.14.12 libqrb5165-io 0.6.3 libvoxl-cci-direct 0.4.0 libvoxl-codec 0.1.1 libvoxl-cutils 0.1.6 modalai-slpi 1.2.3-202604071122 mv-voxl 0.1-r0 qrb5165-bind 0.1-r0 qrb5165-dfs-server 0.2.0 qrb5165-imu-server 1.2.4 qrb5165-mini-tof-server 0.2.2-apoorv qrb5165-rangefinder-server 0.1.6 qrb5165-slpi-test-sig 01-r0 qrb5165-system-tweaks 0.3.4 qrb5165-tflite 2.8.0-2 voxl-bind-spektrum 0.1.1 voxl-camera-calibration 0.6.2 voxl-camera-server 2.2.29 voxl-ceres-solver 2:2.0.0-3 voxl-configurator 1.1.35 voxl-cpu-monitor 0.7.7 voxl-docker-support 1.3.1 voxl-elrs 1.1.7 voxl-esc 1.6.3 voxl-esptool 0.2.1 voxl-fsync-mod 1.0-r0 voxl-gphoto2-server 0.0.10 voxl-gpio-mod 1.0-r0 voxl-io-server 0.1.3 voxl-jpeg-turbo 2.1.3-7 voxl-lepton-server 1.4.1 voxl-libgeographic 1.0.0 voxl-libgphoto2 0.0.4 voxl-libuvc 1.0.7 voxl-logger 0.6.5-202607281100 voxl-mapper 0.2.4 voxl-mavcam-manager 0.6.1 voxl-mavlink 0.1.6 voxl-mavlink-server 1.4.16 voxl-microdds-agent 3.0.0-0 voxl-modem 1.2.5 voxl-mongoose 7.19.0-1 voxl-mpa-to-ros2 0.0.7-202511100959 voxl-mpa-tools 1.5.8 voxl-nlopt 2.5.0-5 voxl-open-vins-server 0.6.2 voxl-opencv 4.5.5-3 voxl-osd 0.4.12 voxl-platform-mod 1.0-r0 voxl-portal 0.9.4 voxl-px4 1.14.0-2.0.134 voxl-px4-imu-server 0.1.2 voxl-px4-params 0.9.15 voxl-remote-id 0.0.9 voxl-reset-slpi 0.0.4-202603311011 voxl-ros2-foxy 0.0.1-202511141235 voxl-streamer 0.8.1 voxl-tag-detector 0.1.0-custom voxl-tflite-server 0.5.1 voxl-utils 1.4.4 voxl-uvc-server 0.1.8 voxl-vision-hub 1.9.21 voxl-voxblox 1.1.5 voxl-vtx 2.2.42 voxl2-io 0.0.3 voxl2-system-image 1.8.02-r0 voxl2-wlan 1.0-r0 -------------------------------------------------------------------------------- ``` **Configuration / services:** (paste the output of `voxl-inspect-services`) ```bash voxl2:~$ voxl-inspect-services Scanning services... Service Name | Enabled | Running | CPU Usage ------------------------------------------------------------------- docker-autorun | Disabled | Not Running | modallink-relink | Disabled | Not Running | voxl-camera-server | Enabled | Not Running | voxl-cpu-monitor | Enabled | Running | 1.2% voxl-dfs-server | Disabled | Not Running | voxl-imu-server | Enabled | Running | 3.1% voxl-io-server | Disabled | Not Running | voxl-lepton-server | Disabled | Not Running | voxl-logger-auto | Disabled | Not Running | voxl-logger | Disabled | Not Running | voxl-mapper | Disabled | Not Running | voxl-mavcam-manager | Disabled | Not Running | voxl-mavlink-server | Enabled | Running | 3.1% voxl-microdds-agent | Enabled | Running | 6.5% voxl-mini-tof-server | Disabled | Not Running | voxl-modem-doodle | Disabled | Not Running | voxl-modem | Disabled | Not Running | voxl-mpa-to-ros2 | Enabled | Running | 0.0% voxl-open-vins-server | Disabled | Not Running | voxl-osd | Disabled | Not Running | voxl-portal | Enabled | Running | 0.1% voxl-px4-imu-server | Disabled | Not Running | voxl-px4 | Enabled | Running | 44.4% voxl-rangefinder-server | Disabled | Not Running | voxl-remote-id | Disabled | Not Running | voxl-softap | Disabled | Not Running | voxl-static-ip | Disabled | Not Running | voxl-streamer | Enabled | Running | 0.0% voxl-tag-detector | Enabled | Running | 0.0% voxl-tflite-server | Disabled | Not Running | voxl-time-sync | Disabled | Not Running | voxl-uvc-server | Disabled | Not Running | voxl-vision-hub | Enabled | Running | 2.2% voxl-vrx | Disabled | Not Running | voxl-vtx | Disabled | Not Running | voxl-wait-for-fs | Enabled | Completed | ``` **What I am trying to do:** Run a tracking down and tracking front camera **What actually happens:** (error messages, behavior) When running voxl-camera-server, the service just aborts, log below: ```bash voxl2:~$ voxl-camera-server Setting MISP AWB to Auto MISP channels enabled in defaults : 0 MISP channels enabled in config file: 0 Setting MISP AWB to Auto MISP channels enabled in defaults : 0 MISP channels enabled in config file: 0 ================================================================= configuration for 2 cameras: cam #0 name: tracking_front type: ar0144 bayer_type: 0 enabled: 1 camera_id: 0 camera_id_second: -1 fps: 30 en_rotate: 0 en_rotate2: 0 en_preview: 1 en_raw_preview: 1 preview_width: 1280 preview_height: 800 en_misp: 1 misp_width: 1280 misp_height: 800 demosaic: auto 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: 12000 gain_min : 54 gain_max : 8000 standby_enabled: 0 decimator: 1 independent_exposure:0 cam #1 name: tracking_down type: ar0144 bayer_type: 0 enabled: 1 camera_id: 1 camera_id_second: -1 fps: 30 en_rotate: 0 en_rotate2: 0 en_preview: 1 en_raw_preview: 1 preview_width: 1280 preview_height: 800 en_misp: 1 misp_width: 1280 misp_height: 800 demosaic: auto 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: 12000 gain_min : 54 gain_max : 8000 standby_enabled: 0 decimator: 1 independent_exposure:0 fsync_en: 0 fsync_gpio: 109 ================================================================= Cam idx: 0, Cam slot: 1, Slave Address: 0x0030, Sensor Id: 0x0356 Cam idx: 1, Cam slot: 6, Slave Address: 0x0030, Sensor Id: 0x0356 thread is locked to cores: 4 5 6 7 connected to mavlink pipe Connected to cpu-monitor Starting Camera: tracking_front (id #0) ModalExposureMSV: initializing for camera name tracking_front type ar0144 gbm_create_device(156): Info: backend name is: msm_drm MISP Initializing for camera tracking_front Detected 1 platform(s) Detected 1 GPU device(s) Estimated imu dt = 0.000977s ERROR in json_from_yaml, failed to open file MISP: Loading intrinsics cal file tracking_front_intrinsics.yml for camera tracking_front, ret -1 WARNING: Lens calibration for camera tracking_front is missing (tracking_front_intrinsics.yml). Using defaults: Creating VOXL Video Encoder: 1280x800 H265, CH_OUT: -1776841196, numInputBufs: 16 gbm_create_device(156): Info: backend name is: msm_drm WARNING: OMX SetTargetBitrate: H265 CBR requires bps >= 3.0Mbit (1200000 bps provided). Using FPS hack. scale = 2.500000 Starting Camera: tracking_down (id #1) ModalExposureMSV: initializing for camera name tracking_down type ar0144 MISP Initializing for camera tracking_down ERROR in json_from_yaml, failed to open file MISP: Loading intrinsics cal file tracking_down_intrinsics.yml for camera tracking_down, ret -1 WARNING: Lens calibration for camera tracking_down is missing (tracking_down_intrinsics.yml). Using defaults: Creating VOXL Video Encoder: 1280x800 H265, CH_OUT: -1759368012, numInputBufs: 16 gbm_create_device(156): Info: backend name is: msm_drm WARNING: OMX SetTargetBitrate: H265 CBR requires bps >= 3.0Mbit (1200000 bps provided). Using FPS hack. scale = 2.500000 ------ voxl-camera-server: Started 2 of 2 cameras ------ voxl-camera-server: Camera server is now running Aborted ``` The last `Aborted` comes after a couple of seconds What is interesting to note, is that the camera server start working after a couple of `systemctl restart voxl-camera-server` commands, both the tracking down and tracking front camera feeds show up in `voxl-portal` **Steps to reproduce:** Heres how my `/data/modalai/custom_acmera_config.txt` is defined: ```bash #!/bin/bash ################################################################################ # # This file allows setting of custom camera configurations by defining what # sensors are plugged into which port. # # There is no guarantee that any arbitrary configuration will work. Only the # predefined camera configs at https://docs.modalai.com/voxl2-camera-configs/ # are supported. # # each slot can be one of the following sensors: # # pmd-tof # pmd-tof-liow2 # ov7251 # ov7251-combo # ov9782 # ov9782-combo # ar0144 # ar0144-fsin (for use with m0173 and Starling 2 only) # ar0144-fsin-combo (for use with m0173 and Starling 2 only) # ar0144-12bit # ar0144-12bit-fsin (for use with m0173 and Starling 2 only) # ar0144-12bit-fsin-combo (for use with m0173 and Starling 2 only) # imx214 # imx412 # imx412-fpv (low latency mode) # imx678 # # # When using a combo mode pair, you must also add a JX_COMBO_MODE field which # specifies is the pair is to be set up as either a stereo pair ordered # left-right, right-left, or treated as two independent cameras. If you are # using a combo-mode flex but only physically connect one of the two cameras # then select "single" it does not matter which one you connect. # # For example: # J6_LOWER_COMBO_MODE="left-right" # J6_LOWER_COMBO_MODE="right-left" # J6_LOWER_COMBO_MODE="independent" # J6_LOWER_COMBO_MODE="single" # # when running "independent" combo mode, also add a NAME2 field for the second cam # e.g J6_LOWER_NAME2="tracking_rear" # # for all sensors except TOF, you can specify a "rotate" flag to # rotate the image 180 degrees e.g. J6_LOWER_ROTATE="true" or "false" # for stereo pairs (e.g. ov7251 combo or ar0144-slave-strereo) you can specify # "rotate-first-only" or "rotate-second-only" to only rotate one, other wise # when setting the rotate option to "true" both will be rotated. # # # Once configured, this file should live in /data/modalai/custom_camera-config.txt # then run voxl-configure-cameras custom to load it in # # # cp /usr/share/modalai/voxl-camera-server/custom_camera_config.txt /data/modalai/ # # We also suggest changing your /data/modalai/sku.txt file to have a camera # config term "CC" such as MRB-D0005-4-V2-CC ################################################################################ J6_LOWER_SENSOR="" J6_LOWER_NAME="" J6_LOWER_ROTATE="false" J6_UPPER_SENSOR="ar0144" J6_UPPER_NAME="tracking_front" J6_UPPER_ROTATE="false" J6_LOWER_COMBO1_SENSOR="ar0144-fsin-combo" J6_LOWER_COMBO1_NAME="tracking_down" J6_LOWER_COMBO1_ROTATE="false" J7_LOWER_SENSOR="" J7_LOWER_NAME="" J7_LOWER_ROTATE="false" J7_UPPER_SENSOR="" J7_UPPER_NAME="" J7_UPPER_ROTATE="false" J8_LOWER_SENSOR="" J8_LOWER_NAME="" J8_LOWER_ROTATE="false" J8_UPPER_SENSOR="" J8_UPPER_NAME="" J8_UPPER_ROTATE="false" ``` **Logs / pictures:** (attach files; PX4 logs -> https://logs.px4.io) Heres how the `voxl-camera-server.conf` is defined: ```bash /** * voxl-camera-server Configuration File * * Each camera has configurations for up to 4 HAL3 streams: * - `preview` stream for raw unprocessed images from CV cameras * - `small_video` 720p (ish) h264/h265 compressed for fpv video streaming * - `large_video` 4k (ish) h264/h265 for onboard video recording to disk * - `snapshot` ISP-processed JPG snapshots that get saved to disk * * on QRB5165 platforms (VOXL2 and VOXL2 mini) you can only have 3 of the 4 enabled * * This file is generated from default values by voxl-configure-cameras. * Do not expect arbitrary resolutions to work, the ISP and video compression * pipelines only support very specific resolutions. * * The default video compression mode is cqp or Constant Quantization Parameter * * * */ { "version": 0.1, "fsync_en": false, "fsync_gpio": 109, "cameras": [{ "type": "ar0144", "name": "tracking_front", "enabled": true, "camera_id": 0, "fps": 30, "en_rotate": false, "en_preview": true, "preview_width": 1280, "preview_height": 800, "en_raw_preview": true, "en_misp": true, "misp_width": 1280, "misp_height": 800, "misp_venc_enable": true, "misp_venc_mode": "h265", "misp_venc_br_ctrl": "cbr", "misp_venc_Qfixed": 38, "misp_venc_Qmin": 15, "misp_venc_Qmax": 50, "misp_venc_nPframes": 9, "misp_venc_irPeriod": 0, "misp_venc_irPeriodType": 1, "misp_venc_mbps": 1.2, "misp_awb": "auto", "misp_gamma": 1, "misp_zoom": 1, "demosaic": "auto", "ae_mode": "lme_msv", "gain_min": 54, "gain_max": 8000, "ae_desired_msv": 60, "exposure_min_us": 20, "exposure_max_us": 12000, "exposure_soft_min_us": 5000, "ae_filter_alpha": 0.6, "ae_ignore_fraction": 0.2, "ae_slope": 0.05, "ae_exposure_period": 1, "ae_gain_period": 1 }, { "type": "ar0144", "name": "tracking_down", "enabled": true, "camera_id": 1, "fps": 30, "en_rotate": false, "en_preview": true, "preview_width": 1280, "preview_height": 800, "en_raw_preview": true, "en_misp": true, "misp_width": 1280, "misp_height": 800, "misp_venc_enable": true, "misp_venc_mode": "h265", "misp_venc_br_ctrl": "cbr", "misp_venc_Qfixed": 38, "misp_venc_Qmin": 15, "misp_venc_Qmax": 50, "misp_venc_nPframes": 9, "misp_venc_irPeriod": 0, "misp_venc_irPeriodType": 1, "misp_venc_mbps": 1.2, "misp_awb": "auto", "misp_gamma": 1, "misp_zoom": 1, "demosaic": "auto", "ae_mode": "lme_msv", "gain_min": 54, "gain_max": 8000, "ae_desired_msv": 60, "exposure_min_us": 20, "exposure_max_us": 12000, "exposure_soft_min_us": 5000, "ae_filter_alpha": 0.6, "ae_ignore_fraction": 0.2, "ae_slope": 0.05, "ae_exposure_period": 1, "ae_gain_period": 1 }] } ```