I have a 2 imx678 hires cameras attached to a voxl 2 mini the stream video using the voxl-camera-server without any problems, however there is a weird color tint on the cameras. Is there any way to adjust to color calibration for the voxl-camera-server? If not is there a way to access the raw8 or raw10 grey video without any image processing done to them?

@tom I thought I did but it wasn't in properly I tested it again and I got sucess.
so this confirms that uart is working correct? and then for using it in my own program I could use the same things I see in the test program with #include <voxl_io.h> and then all the same voxl_uart functions used in the program yeah?
Thanks.

@Moderator Any update on accessing the RAW8 for the hires image sensors?
Also, is there a way to change the exposure and gain manually. In the voxl-camera-server config I have been able to change the setting of ae_mode to off and I've tried using the "voxl-send-command hires0_small_color set_exp_gain 100 200" for example but nothing changes. I also tried setting the ae_mode to lme_msv but changing the settings in the config had no effect of the exposure or gain either, it was acting the same as the off mode. Are these settings available to the hires imx678? If not, is there any way for me to adjust the exposure and gain settings?

@Alex-Kushleyev It seems to be working now, I'll do more testing but this looks correct

| Pipe Name | bytes | wide | hgt |exp(ms)| gain | frame id |latency(ms)| fps | mbps | format
| boson | 327680 | 640 | 512 | 0.00 | 799 | 163 | 21.6 | 60.0 | 157.3 | RAW8
| boson_bayer | 655360 | 640 | 512 | 0.00 | 0 | 163 | 20.0 | 60.0 | 314.6 | RAW16
| boson_color | 983040 | 640 | 512 | 0.00 | 799 | 163 | 22.7 | 60.0 | 471.9 | RGB
| boson_misp_encoded | 8826 | 640 | 512 | 0.00 | 799 | 163 | 25.5 | 60.0 | 4.1 | H265 (P)

Thanks for the help! Also, what version of the bosonSDK are you using for your python scripts? My version (3.0) doesn't have the dvoSetMipiStartState and a few other functions and I can't find a higher version on their website?

@Alex-Kushleyev
Alright, I've tried a few things and I can't see to get things to work.

voxl2-mini:~$ voxl-camera-server
Setting MISP AWB to Auto
MISP channels enabled in defaults : 0
MISP channels enabled in config file: 0

configuration for 1 cameras:

cam #0
name: boson
type: boson-fpv
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:       640
preview_height:      512

en_misp:             1
misp_width:          640
misp_height:         512

en_small_video:      0
small_video_width:   640
small_video_height:  512

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
gain_min           : 54
gain_max           : 8000
standby_enabled:     0
decimator:           1
independent_exposure:0

fsync_en: 0
fsync_gpio: 109

thread is locked to cores: 4 5 6 7
connected to mavlink pipe
Starting Camera: boson (id #0)
Opened GBM fd
gbm_create_device(156): Info: backend name is: msm_drm
Created GBM device
MISP Initializing for camera boson
Detected 1 platform(s)
Detected 1 GPU device(s)
Estimated imu dt = 0.000977s
Got unsupported format in getUVStartFromFmt, returning nullptr
WARNING: OMX SetTargetBitrate: H265 CBR requires bps >= 3.0Mbit (2000000 bps provided). Using FPS hack. scale = 1.500000

------ voxl-camera-server: Started 1 of 1 cameras

------ voxl-camera-server: Camera server is now running
ERROR: Received "Result" error from camera: boson
ERROR: Received "Buffer" error from camera: boson
ERROR: Received "Result" error from camera: boson
ERROR: Received "Buffer" error from camera: boson
ERROR: Received "Result" error from camera: boson
ERROR: Received "Buffer" error from camera: boson
ERROR: Received "Result" error from camera: boson
ERROR: Received "Buffer" error from camera: boson
ERROR: Received "Result" error from camera: boson
ERROR: Received "Buffer" error from camera: boson
ERROR: Received "Request" error from camera: boson

| Pipe Name | bytes | wide | hgt |exp(ms)| gain | frame id |latency(ms)| fps | mbps | format
| boson |
| boson_bayer |
| boson_color |
| boson_misp_encoded |

I copied the drivers into /usr/lib/camera/ and both the 8 bit and 14 bit drivers you provided gave the same error running various combinations of the set and read python scripts you sent.

(base) ➜ boson python3 boson_set_14bit.py
C serial FSLP load
Serial port open
Software Version: 4 0 27141
camera SN: 322022
dvoSetOutputFormat:
0
dvoSetType:
0
dvoSetOutputIr16Format:
0
roicSetFrameSkip:
0
Apply Custom Settings:
0
Save Settings To Flash:
0
Reboot
0
Closing com port and freeing serial port instance.
Serial port close
(base) ➜ boson python3 boson_read.py
C serial FSLP load
Serial port open
Software Version: 4 0 27141
camera SN: 322022
dvoGetType:
0
5
dvoGetOutputFormat:
0
3
dvoGetOutputIr16Format:
0
0
dvoGetLCDConfig:
0
0
ClockInfo:
0
60.0
27.0
16

Let me know if it seemed like I did something wrong, I tried both the J6 and J7 ports on the voxl 2 mini with the corresponding numbered driver.

@Alex-Kushleyev

Thanks for looking into this. At the moment there aren't any plans using the sync pin but we are trying to see if this is something worth looking into.

Back to testing, I recently got the boson board in and am trying to test it but have run into an issue with trying to get the camera-server installed.

I'm getting
voxl-camera-server depends on libmodal-pipe (>= 2.14.0); however:
Version of libmodal-pipe on system is 2.13.2.

Then for libmodal-pipe 2.14.0
dpkg: regarding libmodal-pipe_2.14.0_arm64.deb containing libmodal-pipe:
libmodal-pipe conflicts with voxl-cpu-monitor (<< 0.7.0)
voxl-cpu-monitor (version 0.6.0) is present and installed.

Bu voxl-cpu-monitor 0.7.0
dpkg: regarding voxl-cpu-monitor_0.7.0_arm64.deb containing voxl-cpu-monitor:
voxl-cpu-monitor conflicts with libmodal-pipe (<< 2.14.0)
libmodal-pipe (version 2.13.2) is present and installed.

So I'm stuck in a bit of a circle with the libmodal-pipe if you could help out

@Alex-Kushleyev Got around to testing this and J18 uart (qrb5165io-slpi-uart-test -d 2) and J19((qrb5165io-slpi-uart-test -d 7/6) all did not work with the error

Using device 2Sending library name request: libslpi_qrb5165_io.so
Sending initialization request
Received standard error event SNS_STD_ERROR_NOT_SUPPORTED
Couldn't configure flight_controller sensor
ERROR: fc_sensor_initialize failed
ERROR: Failed to initialize slpi
ERROR: Encountered error while initializing bus 12
[ERROR] Failed to open device

@Alex-Kushleyev Cool, follow up then the Boson has an external sync pin, does the mipi board support this still?

@Alex-Kushleyev I only need the RAW output I plan to do all the post processing myself so this is exactly what I need, Thanks!

Re: Boson 640 MIPI M0153: 16-bit Pre-AGC

Hello, I saw this post and I'm in a similar boat where I'm looking at using a boson over mipi. Is there any update that has been done or is planned with supporting 16 bit mipi and possibly 60 hz update (less important but would still be nice)?

@Alex-Kushleyev
I am able to see and detect the ESC with one voxl but on another it seems to not work at all, they are both flashed with the same version and settings (voxl2 SDK 1.4.1) and the only difference is the voxl2, all esc and cables are the same.

voxl2:/usr/share/modalai/voxl-esc-tools$ ./voxl-esc-scan.py
Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00)
[GCC 8.4.0]
Found voxl-esc tools bin version: 1.9
VOXL Platform: M0054
Detected RB5 Flight, VOXL2 M0054 or M0104!
INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 2000000
Sending library name request: libslpi_qrb5165_io.so
Sending initialization request
INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400
Updated baud rate to 230400
WARNING: No ESC(s) detected
VOXL Platform: M0054
Detected RB5 Flight, VOXL2 M0054 or M0104!
INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 250000
INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400
Updated baud rate to 230400
WARNING: No ESC(s) detected
VOXL Platform: M0054
Detected RB5 Flight, VOXL2 M0054 or M0104!
INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 921600
INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400
ERROR: voxl_uart_read_bytes: Bus '12' is not initialized
Updated baud rate to 230400
WARNING: No ESC(s) detected
VOXL Platform: M0054
Detected RB5 Flight, VOXL2 M0054 or M0104!
INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 57600
INFO: Scanning for ESC bootloader: /dev/slpi-uart-2, baud: 230400
Updated baud rate to 230400
WARNING: No ESC(s) detected

ERROR: not all ESCs found
voxl2:/usr/share/modalai/voxl-esc-tools$ voxl-esc

What do you want to do?

1. scan 3) spin 5) upload_params
2. detect 4) upgrade_firmware
   #? 2
   enabling bridge
   bridge enabled
   ERROR: voxl_uart_read_bytes: Bus '12' is not initialized
   [ERROR] No ESCs detected
   disabling bridge
   Sending kill slpi command!
   bridge disabled
   EXITING VOXL-ESC WITH ERROR
   voxl2:/usr/share/modalai/voxl-esc-tools$

@Vinny Part of the issue is it doesn't see to be detected/work on boot but when I use the commands it does work, sometimes it doesn't work at all even with the commands but at the moment it doesn't work on boot at all. Is this an issue with the cable do you think? I ask because there will be no difference between the scenarios and trying the same setup (cables and voxl) with a different ESC seems to work so to me it seems like I somehow broke the esc, but I'm not sure how.

Hello,
I have a drone using a 5v VOXL ESC Mini 4-in-1 with Built-in Power Module with the voxl2 and I have run into an issue where after some use the ESC are not detected anymore by the voxl2. Sometimes, the I can run the commands described in https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/master/voxl-esc-tools/calibration.md to manually spin but I can no longer fly through QGC and the blue status light does not blink anymore. After some time though I could not even run the commands on the voxl either and I get a notice that no ESC is detected. The blue light still comes on and the voxl is powered through it so power is for sure going through. Anything to try or test to diagnose or get these working? Nothing should have changed in between them working and not working