I would like to report a probable bug related to the TOF camera on my Starling 2 Max (configuration C29).
I was previously running SDK 1.5.0, and the TOF camera was operating correctly at the frame rate specified in the file "/etc/modalai/voxl-camera-server.conf".
I recently upgraded from SDK 1.5.0 to SDK 1.6.3 (I didn't try other SDK versions).
Since then, the TOF camera runs at a frequency divided by 5. I tested this using the CLI inspection tool with the command "voxl-inspect-cam tof_depth" for different FPS values (same results in VOXL-Portal). I have not changed anything on the drone except the "fps" parameter in the configuration file "/etc/modalai/voxl-camera-server.conf".
Here is my TOF camera configuration:
"type": "pmd-tof-liow2",
"name": "tof",
"enabled": true,
"camera_id": 3,
"fps": 10,
"en_rotate": true,
"ae_mode": "off",
"gain_min": 0,
"gain_max": 0,
"exposure_max_us": 6000,
"standby_enabled": false,
"decimator": 5
Here are the results from "voxl-inspect-cam tof_depth" for different FPS values:
fps = 5
| Pipe Name | bytes | wide | hgt |exp(ms)| gain | frame id |latency(ms)| fps | mbps | format
| tof_depth | 43200 | 180 | 240 | 48.00 | 0 | 26 | 28.1 | 1.0 | 0.3 | RAW8
fps = 10
| Pipe Name | bytes | wide | hgt |exp(ms)| gain | frame id |latency(ms)| fps | mbps | format
| tof_depth | 43200 | 180 | 240 | 24.00 | 0 | 28 | 27.2 | 2.0 | 0.7 | RAW8
fps = 15
| Pipe Name | bytes | wide | hgt |exp(ms)| gain | frame id |latency(ms)| fps | mbps | format
| tof_depth | 43200 | 180 | 240 | 16.00 | 0 | 16 | 28.6 | 3.0 | 1.0 | RAW8
fps = 20
| Pipe Name | bytes | wide | hgt |exp(ms)| gain | frame id |latency(ms)| fps | mbps | format
| tof_depth | 43200 | 180 | 240 | 12.00 | 0 | 21 | 27.8 | 4.0 | 1.4 | RAW8
fpx = 30
| Pipe Name | bytes | wide | hgt |exp(ms)| gain | frame id |latency(ms)| fps | mbps | format
| tof_depth | 43200 | 180 | 240 | 8.00 | 0 | 13 | 26.8 | 6.0 | 2.1 | RAW8
fps = 60
| Pipe Name | bytes | wide | hgt |exp(ms)| gain | frame id |latency(ms)| fps | mbps | format
| tof_depth | 43200 | 180 | 240 | 4.00 | 0 | 288 | 10.0 | 12.0 | 4.1 | RAW8
fps = (8, 12, 25, 35, 40, 45, 50, 65, 70, 75, 80, 85, 90, 100, 120, 135, 140, 150, 180)
| Pipe Name | bytes | wide | hgt |exp(ms)| gain | frame id |latency(ms)| fps | mbps | format
| tof_depth | Server Disconnected
Looking at the code in "src/hal3_camera_mgr.cpp", it seems expected that other frame rates do not work anymore. Here is the relevant section:
if (configInfo.type == SENSOR_TOF){
if (configInfo.fps != 5 && configInfo.fps != 10 && configInfo.fps != 15 && configInfo.fps != 30 && configInfo.fps != 45){
M_ERROR("Invalid TOF framerate: %d, must be either 5, 10, 15, 30, or 45\n", configInfo.fps);
return -1;
}
}
if (configInfo.type == SENSOR_TOF_LIOW2){
if (configInfo.fps != 5 && configInfo.fps != 10 && configInfo.fps != 15 && configInfo.fps != 20 && configInfo.fps != 30 && configInfo.fps != 60){
M_ERROR("Invalid TOF framerate: %d, must be either 5, 10, 15, 20, 30, or 60\n", configInfo.fps);
return -1;
}
}
Below are the full version details for SDK 1.6.3 (where the issue occurs):
voxl2:~$ voxl-version
────────────────────────────────────────────────────────────────────────────────
system-image: 1.8.06-M0054-14.1a-perf
kernel: #1 SMP PREEMPT Wed Oct 22 04:13:18 UTC 2025 4.19.125
────────────────────────────────────────────────────────────────────────────────
hw platform: M0054
mach.var: 1.0.1
SKU: MRB-D0012-4-V2-C29-T9-M28-X0
────────────────────────────────────────────────────────────────────────────────
voxl-suite: 1.6.3
────────────────────────────────────────────────────────────────────────────────
Packages:
Repo: http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-1.6/binary-arm64/
Last Updated: 2026-03-09 17:52:53
List:
libfc-sensor 1.0.9
libmodal-cv 0.6.0
libmodal-exposure 0.1.4
libmodal-flow 1.0.3
libmodal-journal 0.2.7
libmodal-json 0.4.8
libmodal-pipe 2.14.11
libqrb5165-io 0.6.3
libvoxl-cci-direct 0.3.3
libvoxl-codec 0.0.2
libvoxl-cutils 0.1.6
modalai-slpi 1.2.2
mv-voxl 0.1-r0
qrb5165-bind 0.1-r0
qrb5165-dfs-server 0.2.0
qrb5165-mini-tof-server 0.2.2
qrb5165-rangefinder-server 0.1.6
qrb5165-slpi-test-sig 01-r0
qrb5165-tflite 2.17.2
voxl-bind-spektrum 0.1.1
voxl-camera-calibration 0.6.1
voxl-camera-server 2.2.19
voxl-cassie-ros2 0.0.1
voxl-ceres-solver 2:2.0.0-2
voxl-configurator 1.1.5
voxl-cpu-monitor 0.7.7
voxl-docker-support 1.3.1
voxl-elrs 1.1.0
voxl-esc 1.5.7
voxl-esptool 0.2.0
voxl-feature-tracker 0.5.2
voxl-flow-server 0.3.6
voxl-gphoto2-server 0.0.10
voxl-imu-server 2.0.1
voxl-io-server 0.0.8
voxl-jpeg-turbo 2.1.3-7
voxl-lepton-server 1.3.3
voxl-lepton-tracker 0.0.4
voxl-libgeographic 1.0.0
voxl-libgphoto2 0.0.4
voxl-libuvc 1.0.7
voxl-logger 0.6.1
voxl-mavcam-manager 0.6.0
voxl-mavlink 0.1.6
voxl-mavlink-server 1.4.14
voxl-microdds-agent 3.0.0-0
voxl-modem 1.2.3
voxl-mongoose 7.19.0
voxl-mpa-to-ros 0.3.9
voxl-mpa-to-ros2 0.0.7
voxl-mpa-tools 1.5.6
voxl-nano-tracker 0.1.7
voxl-open-vins-server 0.6.0
voxl-opencv 4.5.5-3
voxl-osd 0.3.8
voxl-portal 0.8.7
voxl-px4 1.14.0-2.0.133
voxl-px4-params 0.9.0
voxl-qvio-server 1.2.3
voxl-remote-id 0.0.9
voxl-reset-slpi 0.0.1
voxl-ros2-foxy 0.0.1
voxl-state-estimator 0.0.6
voxl-streamer 0.8.0
voxl-suite 1.6.3
voxl-tag-detector 0.1.0
voxl-tflite-server 0.5.1
voxl-utils 2.0.2
voxl-uvc-server 0.1.7
voxl-vision-hub 1.9.21
voxl-vtx 2.0.2
voxl-wavemux 0.0.3
voxl2-io 0.0.3
voxl2-security-hardening-utls 1.0-r0
voxl2-system-image 1.8.06-r0
voxl2-wlan 1.0-r0
────────────────────────────────────────────────────────────────────────────────
Below are the full version details for SDK 1.5.0 (where the TOF camera worked as expected):
────────────────────────────────────────────────────────────────────────────────
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: MRB-D0012-4-V2-C29-T9-M28-X0
────────────────────────────────────────────────────────────────────────────────
voxl-suite: 1.5.0
────────────────────────────────────────────────────────────────────────────────
Packages:
Repo: http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-1.5/binary-arm64/
Last Updated: 2026-02-05 12:12:50
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-bind-spektrum 0.1.1
voxl-camera-calibration 0.6.0
voxl-camera-server 2.2.4
voxl-cassie-ros2 0.0.1
voxl-ceres-solver 2:1.14.0-10
voxl-configurator 1.0.2
voxl-cpu-monitor 0.6.0
voxl-cross-template 0.0.1
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 1.4.9
voxl-microdds-agent 3.0.0-0
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 0.7.5
voxl-qvio-server 1.2.0
voxl-remote-id 0.0.9
voxl-reset-slpi 0.0.1
voxl-ros2-humble 0.0.3
voxl-state-estimator 0.0.5
voxl-streamer 0.7.5
voxl-suite 1.5.0
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
────────────────────────────────────────────────────────────────────────────────
Between versions 2.2.4 and 2.2.19 of the "voxl-camera-server" repository, I extracted the commits that modified the file "src/hal3_camera_mgr.cpp":
a7f5ea0 | 2025-12-10 | Eric Katzfey | Fixed the rest of the compiler warnings for the qrb5165-2 build
aa7b12d | 2025-12-05 | Alex Kushleyev | fix boson buffer pre-allocation size - the extra allocation should only be done in raw preview mode
f461dc0 | 2025-11-11 | Tom Martinson | Merge branch 'ar0144-rotate-encoded' into dev
3189b6b | 2025-11-10 | Alex Kushleyev | add option to invert boson output via a command
a3ac28e | 2025-11-10 | Tom Martinson | add new ar0144 rotated sensor type
bfce3c3 | 2025-11-10 | Alex Kushleyev | move some misp init code from camera mgr to misp
25fe9b6 | 2025-11-10 | Alex Kushleyev | load body to imu extrinsics from file
5289342 | 2025-11-07 | Alex Kushleyev | remove hist ae option; add manual and auto=lme_msv
a279e3d | 2025-11-06 | Jacob Camarillo | Remove unused OSD code
51cceec | 2025-11-06 | Alex Kushleyev | fix the neutral point of UV in monochrome YUVs from 127 to 128 for mono images sent to encoder
d1a9da8 | 2025-10-30 | Alex Kushleyev | Add an option to rotate AR0144 encoded video
86e1476 | 2025-10-29 | Alex Kushleyev | enable buffer recycling and camera customer register reinit for recovery
2b9816f | 2025-10-29 | Alex Kushleyev | Add boson 14bit support
cda94c2 | 2025-10-09 | zauberflote | Enable misp in stereo config
eeda888 | 2025-09-25 | Alex Kushleyev | enable rotation of imx412 and imx664 via en_rotate config option. using cci direct to set the readout direction
52643e8 | 2025-09-17 | Alex Kushleyev | fix bayer publish stride; enable publishing bayer images via shared ion buffers
2a2c14d | 2025-09-17 | Alex Kushleyev | Merge branch 'dev' into fix-encoder-dynamic-low-bitrate
dd7565a | 2025-09-16 | james | v2.2.7 remove voxl-cpu-monitor as build dependency and some general cleanups
a435e8c | 2025-09-08 | Alex Kushleyev | enable low fps to be set dynamically without having it set in the camera config (less than 1.5mbps for h264 and less than 3.0mbps for h265
272fe47 | 2025-09-03 | Alex Kushleyev | add a test colormap for boson using _color stream
1d81a46 | 2025-08-21 | Alex Kushleyev | fix pipe json for AR0144 Color from YUV to RGB
51afcb4 | 2025-08-21 | Alex Kushleyev | only read camera calibration if eis is enabled; add option to disable AWB on individual misp channels; add hooks for using RGB images instead of YUV for AWB
1c3e99e | 2025-08-14 | Alex Kushleyev | add imx214 misp supported resolutions
2390f20 | 2025-07-30 | modaljc | enable boson misp encoded by default instead of boson small encoded
50a27ba | 2025-07-30 | Alex Kushleyev | Merge branch 'dev' of gitlab.com:voxl-public/voxl-sdk/services/voxl-camera-server into dev
bbc9b89 | 2025-07-30 | Alex Kushleyev | add boson support to MISP; fix real-time fps control
96c6a0d | 2025-07-22 | james | v2.2.5 fix stereo cam pair going out of sync due to too high of an allowed discrepancy
055e11a | 2025-06-16 | Alex Kushleyev | clean up before merge to dev
effc3e8 | 2025-06-12 | Alex Kushleyev | add eis params and minor cleanup
@Alex-Kushleyev and modalai team, what can I do to fix that ?
Let me know if you need additional logs or tests.
Thanks in advence
