@Alex-Kushleyev I tried to configure for raw capture but am getting an error with camera-server:

existing instance of voxl-camera-server found, attempting to stop it
MISP awb str: auto
Setting MISP AWB to Auto
MISP channels enabled in defaults : 0
ERROR: object missing misp_channels
MISP awb str: auto
Setting MISP AWB to Auto
MISP channels enabled in defaults : 0
ERROR: object missing misp_channels
=================================================================
configuration for 2 cameras:

cam #0
    name:                boson
    sensor type:         boson
    isEnabled:           1
    camId:               0
    camId2:              -1
    fps:                 30
    en_rotate:           0
    en_rotate2:          0

    en_preview:          1
    pre_width:           640
    pre_height:          512
    en_raw_preview:      1

    en_small_video:      0
    small_video_width:   640
    small_video_height:  480

    en_large_video:      0
    large_video_width:   -1
    large_video_height:  -1

    en_misp:             1
    misp_width:          -1
    misp_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:             off
    msv_exposure_min_us: 20
    msv_exposure_max_us: 33000
    gain_min           : 54
    gain_max           : 8000
    standby_enabled:     0
    decimator:           1
    independent_exposure:0

cam #1
    name:                hires
    sensor type:         ov64b
    isEnabled:           1
    camId:               1
    camId2:              -1
    fps:                 15
    en_rotate:           0
    en_rotate2:          0

    en_preview:          1
    pre_width:           9248
    pre_height:          6944
    en_raw_preview:      1

    en_small_video:      0
    small_video_width:   1024
    small_video_height:  768

    en_large_video:      0
    large_video_width:   3840
    large_video_height:  2160

    en_misp:             1
    misp_width:          1920
    misp_height:         1080

    en_snapshot:         0
    snap_width:          9248
    snap_height:         6944
    exif_focal_length:   3.100000
    exif_focal_len_35mm_format:17
    exif_fnumber:        1.240000

    ae_mode:             lme_msv
    msv_exposure_min_us: 20
    msv_exposure_max_us: 33000
    gain_min           : 100
    gain_max           : 32000
    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
Connected to cpu-monitor
Starting Camera: boson (id #0)
gbm_create_device(156): Info: backend name is: msm_drm
MISP Initializing!!!
 Detected 1 platform(s)
 Detected 1 GPU device(s)
Starting Camera: hires (id #1)
ERROR:   Configure streams failed for camera: 1
ERROR:   Failed to configure streams for camera: hires
ERROR:   Failed to start camera: hires

------ voxl-camera-server: Started 1 of 2 cameras

voxl-version:

system-image: 1.8.04-M0054-14.1a-perf
kernel:       #1 SMP PREEMPT Mon Mar 24 22:31:58 UTC 2025 4.19.125
────────────────────────────────────────────────────────────────────────────────
hw platform:  M0054
mach.var:     1.0.1
SKU:          MCCA-M0054-C11-T0-M0-X0
────────────────────────────────────────────────────────────────────────────────
voxl-suite:   1.5.1
────────────────────────────────────────────────────────────────────────────────
Packages:
Repo:  http://voxl-packages.modalai.com/ qrb5165 dev
Last Updated: 2026-03-18 19:55:21
List:
libfc-sensor                1.0.7
libmodal-cv                 0.5.18
libmodal-exposure           0.1.4
libmodal-journal            0.2.6
libmodal-json               0.4.7
libmodal-pipe               2.13.2
libqrb5165-io               0.5.0
libvoxl-cci-direct          0.3.3
libvoxl-cutils              0.1.5
modalai-slpi                1.2.0
mv-voxl                     0.1-r0
qrb5165-bind                0.1-r0
qrb5165-dfs-server          0.2.0
qrb5165-imu-server          1.1.3
qrb5165-mini-tof-server     0.2.2
qrb5165-rangefinder-server  0.1.5
qrb5165-slpi-test-sig       01-r0
qrb5165-system-tweaks       0.3.6
qrb5165-tflite              2.8.0-2
voxl-ardupilot              4.8.0-325875bb
voxl-bind-spektrum          0.1.1
voxl-camera-calibration     0.6.0
voxl-camera-server          2.2.4
voxl-ceres-solver           2:1.14.0-10
voxl-configurator           1.0.3
voxl-cpu-monitor            0.6.0
voxl-docker-support         1.3.1
voxl-elrs                   0.4.7
voxl-esc                    1.5.4
voxl-feature-tracker        0.5.2
voxl-flow-server            0.3.6
voxl-gphoto2-server         0.0.10
voxl-joystick-server        0.0.6
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         0.6.0
voxl-mavlink                0.1.5
voxl-mavlink-server         1.4.15-202603130958
voxl-modem                  1.1.8
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                    0.1.8
voxl-portal                 0.7.11
voxl-px4                    1.14.0-2.0.105
voxl-px4-params             0.7.6
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                  1.5.1
voxl-tag-detector           0.0.5
voxl-tflite-server          0.4.1
voxl-utils                  1.4.8
voxl-uvc-server             0.1.7
voxl-vision-hub             1.8.23
voxl-vtx                    1.4.7
voxl-wavemux                0.0.1
voxl2-io                    0.0.3
voxl2-system-image          1.8.04-r0
voxl2-wlan                  1.0-r0

@Alex-Kushleyev said in Hadron ov64b snapshots have a vertical image artifact:

before saving the raw bayer, start the misp output stream, so that AE can actually process

what do you mean by start the misp output stream?

@Alex-Kushleyev thanks for your response!

I will try these suggestions and let you know how it goes.

I tested jpeg quality at 75 and 95 and did not notice much of a difference in sharpness.

We have our VOXL2 with Hadron connected on J8. We have everything setup and can capture images successfully. After taking a bunch of images we noticed a vertical artifact in the hires_snapshot that consistently appears in the same column of pixels (~340).

Is this a data processing flaw? If so is there a way to diagnose / troubleshoot it? Here is my voxl-camera-server.conf and an example crop of the artifact.

{
        "version":      0.1,
        "fsync_en":     false,
        "fsync_gpio":   109,
        "cameras":      [{
                        "type": "boson",
                        "name": "boson",
                        "enabled":      true,
                        "camera_id":    0,
                        "fps":  30,
                        "en_preview":   true,
                        "en_misp":      false,
                        "preview_width":        640,
                        "preview_height":       512,
                        "en_raw_preview":       true,
                        "en_small_video":       false,
                        "en_large_video":       false,
                        "ae_mode":      "off",
                        "en_rotate":    false,
                        "small_video_width":    640,
                        "small_video_height":   480,
                        "small_venc_mode":      "h264",
                        "small_venc_br_ctrl":   "cqp",
                        "small_venc_Qfixed":    30,
                        "small_venc_Qmin":      15,
                        "small_venc_Qmax":      40,
                        "small_venc_nPframes":  9,
                        "small_venc_mbps":      2,
                        "small_venc_osd":       false,
                        "large_video_width":    -1,
                        "large_video_height":   -1,
                        "large_venc_mode":      "h264",
                        "large_venc_br_ctrl":   "cqp",
                        "large_venc_Qfixed":    40,
                        "large_venc_Qmin":      15,
                        "large_venc_Qmax":      50,
                        "large_venc_nPframes":  29,
                        "large_venc_mbps":      40,
                        "large_venc_osd":       false,
                        "misp_width":   -1,
                        "misp_height":  -1,
                        "misp_venc_enable":     true,
                        "misp_venc_mode":       "h264",
                        "misp_venc_br_ctrl":    "cqp",
                        "misp_venc_Qfixed":     30,
                        "misp_venc_Qmin":       15,
                        "misp_venc_Qmax":       50,
                        "misp_venc_nPframes":   29,
                        "misp_venc_mbps":       2,
                        "misp_venc_osd":        false,
                        "misp_awb":     "auto",
                        "misp_gamma":   1,
                        "gain_min":     54,
                        "gain_max":     8000
                }, {
                        "type": "ov64b",
                        "name": "hires",
                        "enabled":      true,
                        "camera_id":    1,
                        "fps":  15,
                        "en_preview":   true,
                        "en_misp":      false,
                        "preview_width":        1920,
                        "preview_height":       1080,
                        "en_raw_preview":       false,
                        "en_small_video":       false,
                        "en_large_video":       false,
                        "en_snapshot":  true,
                        "ae_mode":      "isp",
                        "gain_min":     100,
                        "gain_max":     32000,
                        "small_video_width":    1024,
                        "small_video_height":   768,
                        "small_venc_mode":      "h264",
                        "small_venc_br_ctrl":   "cqp",
                        "small_venc_Qfixed":    30,
                        "small_venc_Qmin":      15,
                        "small_venc_Qmax":      40,
                        "small_venc_nPframes":  9,
                        "small_venc_mbps":      2,
                        "small_venc_osd":       false,
                        "large_video_width":    3840,
                        "large_video_height":   2160,
                        "large_venc_mode":      "h264",
                        "large_venc_br_ctrl":   "cqp",
                        "large_venc_Qfixed":    40,
                        "large_venc_Qmin":      15,
                        "large_venc_Qmax":      50,
                        "large_venc_nPframes":  29,
                        "large_venc_mbps":      40,
                        "large_venc_osd":       false,
                        "en_snapshot_width":    9248,
                        "en_snapshot_height":   6944,
                        "exif_focal_length":    3.0999999046325684,
                        "exif_focal_length_in_35mm_format":     17,
                        "exif_fnumber": 1.2400000095367432,
                        "snapshot_jpeg_quality":        75,
                        "misp_width":   -1,
                        "misp_height":  -1,
                        "misp_venc_enable":     true,
                        "misp_venc_mode":       "h265",
                        "misp_venc_br_ctrl":    "cqp",
                        "misp_venc_Qfixed":     38,
                        "misp_venc_Qmin":       15,
                        "misp_venc_Qmax":       50,
                        "misp_venc_nPframes":   29,
                        "misp_venc_mbps":       30,
                        "misp_venc_osd":        false,
                        "misp_awb":     "auto",
                        "misp_gamma":   1.6
                }]
}

Additionally - we are noticing a soft focus on every image. Are there any camera-server parameters for the Hadron that could lead to this sort of effect? Image EXIF shows:

9248 x 6944
72 dpi
24 bit
3.1 mm
f/1.24
1/2500
ISO 54
EXP 0

Lastly - are we able to capture RAW images from the hadron at full resolution?

Thanks!

@Eric-Katzfey I configured the drone to have servo5 trigger the camera. When idle, servo 5 shows 1100. When triggered, it goes up to 1300. In the Mavlink messages I can now watch for SERVO_OUTPUT_RAW msg.servo5_raw and detect the rising edge which emulates the trigger.

msg = master.recv_match(type='SERVO_OUTPUT_RAW', blocking=True, timeout=2)
if not msg:
    continue
pwm = msg.servo5_raw

I have done this on a ground station using pymavlink to listen for messages. What is the best way to listen for this mavlink message on the VOXL2? Reminder - I am using Ardupilot.

@Eric-Katzfey We have the Hadron configured with voxl-camera-server.conf

"type": "ov64b",
"name": "hires",
....
"en_snapshot": true,
...

so we can take images with voxl-send-command hires_snapshot snapshot

I would love to configure the camera in Ardupilot with CAM1_TYPE and set DO_SET_CAM_TRIGG_DIST to a distance interval that I will capture images at.

If that is not directly possible, could you help me with a way to create a sort of interface script that sits on VOXL2 that listens for GPIO relay triggers or something like that? Then I can just call the snapshot command when triggered.

I have a VOXL2 running ardupilot and have a Hadron camera connected and configured with voxl-camera-server. I can take snapshots successfully.

I am trying to configure our drone to capture images at a specific distance interval during flight with the DO_SET_CAM_TRIGG_DIST parameter. Is there a way to do this with VOXL2 and ardupilot?

Thanks!

@Alex-Kushleyev thank you! It works now.

Hi,
I'm working with a VOXL2 and the FLIR Hadron 640 camera, and I'm trying to stream video from the OV64B sensor while taking snapshots at the same time.

Initially, I attempted to use "en_preview": true along with "en_snapshot": true, but that configuration did not allow me to stream video. I assumed it might be a resolution constraint, so I modified the configuration to use "en_small_video": true and "en_snapshot": true instead.

Now I can stream video, and when I enter the following command:
voxl2:/data/snapshots$ voxl-send-command hires_snapshot
Successfully sent command to /run/mpa/hires_snapshot/control
In the voxl-camera-server terminal, I receive this error:
ERROR: Camera: hires got unknown Command:
However, when I enter:
voxl2:/data/snapshots$ voxl-send-command hires_snapshot snapshot-no-save
Successfully sent command to /run/mpa/hires_snapshot/control
The camera server shows:
------ voxl-camera-server: Camera server is now running
Camera: hires taking snapshot for pipe only (not saving it)
But I’m unable to access the snapshot data, even after running adb pull.
My Questions:
Is it possible to stream and take snapshots simultaneously on the OV64B?

What does the error message “Camera: hires got unknown Command” mean?

How can I access the output of snapshot-no-save if it's not being saved to disk?

Thanks in advance for your help!
Below is my camera config code:
{
"version": 0.1,
"fsync_en": false,
"fsync_gpio": 109,
"cameras": [
{
"type": "boson",
"name": "boson",
"enabled": true,
"camera_id": 0,
"fps": 30,
"en_preview": true,
"en_misp": false,
"preview_width": 640,
"preview_height": 512,
"en_raw_preview": true,
"en_small_video": false,
"en_large_video": false,
"ae_mode": "off"
},
{
"type": "ov64b",
"name": "hires",
"enabled": true,
"camera_id": 1,
"fps": 15,
"en_preview": false,
"en_misp": false,
"preview_width": 1920,
"preview_height": 1080,
"en_raw_preview": false,
"en_small_video": true,
"small_video_width": 1024,
"small_video_height": 768,
"small_venc_mode": "h265",
"en_large_video": false,
"small_venc_br_ctrl": "cqp",
"small_venc_Qfixed": 30,
"small_venc_Qmin": 15,
"small_venc_Qmax": 40,
"small_venc_nPframes": 9,
"small_venc_mbps": 2,
"en_snapshot": true,
"en_snapshot_width": 1920,
"en_snapshot_height": 1080,
"ae_mode": "isp",
"gain_min": 54,
"gain_max": 32000
}
]
}

I was wondering if there is a way to log altitude and/or barometer data similar to voxl-logger for imu data.

Thanks

@Alex-Kushleyev yes you can reference the log