@Alex-Kushleyev

I copied /usr/share/modalai/chi-cdk/imx664/com.qti.sensormodule.imx664_1.bin to /usr/lib/camera

here is what was there when I started:

voxl2-mini-test-fixture (TF-M0104):/$ ls /usr/lib/camera/ | grep imx66
com.qti.sensor.imx664.so
com.qti.sensormodule.imx664_3.bin

I noticed that the imx664_3.bin was there and thought that was odd but ended up being a tell to one of the problems I was having as you'll see later in this post. I then copied in the imx664_1.bin and then the voxl-camera-server -l worked

Then I tried to do the camera setup via voxl-configure-cameras

voxl2-mini-test-fixture (TF-M0104):/$ voxl-configure-cameras
                                                   
Available camera config IDs are as follows:

22 - M0188 Stinger Dual AR0144
33 - M0188 Stinger IMX664 + dual AR0144
34 - M0195 Stinger IMX664 + dual AR0144 + boson
35 - RESERVED for Future Stinger Config
38 - M0188 Sparrow IMX664 + Triple AR0144
50 - MVX-T0001 voxl2 mini hires imx664
51 - MVX-T0001 voxl2 mini hires imx664 + boson
52 - MVX-T0001 voxl2 mini dual hires imx664 + boson
 C - use user-defined custom camera config in
     (/data/modalai/custom_camera_config.txt)
 q - Quit The Wizard        

selection: 50            
Selected numerical camera config
Camera Configuration: 50    
                                                   
camera server config helper list:
hires:imx664-fpv:0:              

driver binary list:            
/usr/share/modalai/chi-cdk/imx664/com.qti.sensormodule.imx664_3.bin
                                                   
calling camera-server-config-helper hires:imx664-fpv:0:
MISP awb str: auto            
Setting MISP AWB to Auto  
MISP channels enabled in defaults : 3
ERROR: object missing misp_channels
misp channel 0: en=1, w=1280, h=720, fps=30.0, bitrate=2.00, npframes=2, venc_mode=h265, osd=0
misp channel 1: en=1, w=960, h=540, fps=30.0, bitrate=0.80, npframes=1, venc_mode=h265, osd=0
misp channel 2: en=1, w=960, h=540, fps=60.0, bitrate=1.50, npframes=29, venc_mode=h265, osd=0
WARNING: Limiting maximum exposure to 16466us due to desired FPS (60)
successfully wrote this camera config to disk:
=================================================================
configuration for 1 cameras:
                                                   
cam #0                                                                                                
    name:                hires
    sensor type:         imx664-fpv
    isEnabled:           1                                                                            
    camId:               0
    camId2:              -1                
    fps:                 60            
    en_rotate:           0                                                                            
    en_rotate2:          0            
                                                   
    en_preview:          1                    
    pre_width:           2704                                                                        
    pre_height:          1540                      
    en_raw_preview:      1                

    en_small_video:      0    
    small_video_width:   1024          
    small_video_height:  768                  
                                                   
    en_large_video:      0              
    large_video_width:   2704        
    large_video_height:  1540                
                                                                                                     
    en_misp:             1                  
    misp_width:          1280                
    misp_height:         720

    en_snapshot:         0
    snap_width:          2704  
    snap_height:         1540
    exif_focal_length:   3.100000                  
    exif_focal_len_35mm_format:17
    exif_fnumber:        1.240000

    ae_mode:             lme_msv
    msv_exposure_min_us: 25                                                                          
    msv_exposure_max_us: 16466                    
    gain_min           : 54                                                                          
    gain_max           : 30000
    standby_enabled:     0
    decimator:           1          
    independent_exposure:0        
                                                                                                     
fsync_en:            0                                                                                
fsync_gpio:          109                                                                              
=================================================================    
camera_server_config_helper is done          
camera-server-config-helper succeeded on attempt 1                                                    
leaving fsync pin off      
copying required camera drivers in place          
/usr/share/modalai/chi-cdk/imx664/com.qti.sensormodule.imx664_3.bin                                  
enabling voxl-camera-server  
                                                   
------------------------------------------------------------------                                    
Done Configuring Cameras  
Please power cycle VOXL to load new drivers
camera server will start on next reboot
------------------------------------------------------------------        

I noticed from the output above:

driver binary list:            
/usr/share/modalai/chi-cdk/imx664/com.qti.sensormodule.imx664_3.bin

Despite the default configuration setting camId: 0 which implies it should be using imx664_1.bin

and then suddenly voxl-camera-server -l shows no cameras attached

voxl2-mini-test-fixture (TF-M0104):/$ voxl-camera-server -l
existing instance of voxl-camera-server found, attempting to stop it
DEBUG:   Attempting to open the hal module
DEBUG:   SUCCESS: Camera module opened on attempt 0
DEBUG:   ----------- Number of cameras: 0

DEBUG:   Note: This list comes from the HAL module and may not be indicative
DEBUG:          of configurations that have full pipelines

DEBUG:   Number of cameras: 0

it appears to wipe the imx664_1.bin out of the /usr/lib/cameras directory

voxl2-mini-test-fixture (TF-M0104):/$ ls /usr/lib/camera/ | grep imx66
com.qti.sensor.imx664.so
com.qti.sensormodule.imx664_3.bin

So the key to making it all work is when I
cp /usr/share/modalai/chi-cdk/imx664/com.qti.sensormodule.imx664_3.bin /usr/lib/camera/

Then manually started the server again with:

voxl-camera-server now with success in detecting the camera.

It didn't appear to mind that the imx664_3.bin was there at the same time and then I was able to see video feed in the portal by

adb forward tcp:8080 tcp:80
then visit:
http://localhost:8080

Success! Saw video going to "Cameras -> Multiview (or any of the views really worked)"

Side note: when you plug camera into J1L and create that short, 1) the camera gets really hot (no surprise there) 2) the wifi kit doesn't work (presumably power drain from pulling a rail directly to ground)

We got an LED on the interposer board to light on boot but then it dies and we can't seem to get it to come back. Sometimes while moving the cable we can get it to flicker but then goes out. Are there any known issues with the connectors or them not seating right?

VOXL 2 Mini + IMX664 (MSU-M0186) on M0194 interposer → voxl-camera-server -s detects 0 cameras on J6/J7 (two different units tried)

TL;DR: Brand-new VOXL 2 Mini test fixture (M0104), IMX664 FPV camera (MSU-M0186) on M0194 interposer. I’ve tried two separate Minis, two separate M0194 boards, and two separate IMX664 camera modules. On both J6 and J7, voxl-camera-server -s (self-identify) reports 0 cameras. I also tried a minimal one-camera custom config (fsync disabled) and probing camId 0..3. Still no joy. Looking for guidance on what else to check (stack-height/variant, regulator enables, expected camId mapping, known issues in SDK 1.4.5/1.5.0), and how to definitively validate the CSI/CCI link from software.

Hardware

Compute: VOXL 2 Mini (board ID M0104), test fixture
Unit A (current): fresh, working Wi-Fi, ADB OK
Unit B (earlier test): also fresh; same behavior
Interposer: M0194 (I believe M0194-2, Mini variant; please confirm what to check on silkscreen). Tried two different M0194 boards
Camera: MSU-M0186 (Sony Starvis 2 IMX664, micro-coax). Tried two different camera modules using the included micro-coax; firmly latched (also tried reseating).
Connectors used: J6 and J7 (tried both), correct orientation (DF40 is not reversible)
Cabling/seat checks: Multiple reseats; interposer sits flat with no visible gap; micro-coax fully latched; tried a second micro-coax where available

Software / Versions

Unit A (current)

system-image: 1.8.02-M0104-14.1a-perf
voxl-suite: 1.4.5
kernel: 4.19.125 (#1 SMP PREEMPT Tue Nov 12 00:00:44 UTC 2024)
SKU: TF-M0104-6-V1-C6

Unit B (earlier)

voxl-suite: 1.5.0 (same behavior)

Tools used:

voxl-configure-mpa, voxl-configure-cameras
voxl-inspect-services, voxl-camera-server (-s and -l), voxl-inspect-cam

Symptom

No matter which header (J6/J7) or camId (0..3) I target, self-identify and list show 0 cameras, and the camera server exits with:

ERROR:   Found zero cameras connected, need at least one.

What I’ve tried (chronological-ish)

Configured cameras via wizard

Selected 50 – “voxl2 mini hires imx664” (no Boson present).

Result: voxl-camera-server fails to start; voxl-inspect-cam hires -t shows nothing because the server exits.

Checked services

voxl-inspect-services shows voxl-camera-server Enabled, Not Running while IMU/MAVLink etc. run.

Pulled logs (journal excerpt shows 3 cams configured when using a tracking + hires preset):

ERROR:   Found zero cameras connected, need at least one.
...
cam #1
    name:                hires
    sensor type:         imx664-fpv
    isEnabled:           1
    camId:               1
    ...
fsync_en:            1
fsync_gpio:          109

Then service aborts and systemd stops restarting it (“Start request repeated too quickly”).

Self-identify (no config dependency)

voxl-camera-server -s 

and

voxl-camera-server -d 0 -s

Both print 0 cameras detected:

DEBUG:   ----------- Number of cameras: 0
ERROR:   Did not detect any cameras plugged in

Minimal custom config (one camera only, fsync disabled) + camId sweep

Created /data/modalai/custom_camera_config.txt with a single imx664-fpv block, fsync_en: 0, and then looped camId: 0,1,2,3, restarting the server each time.

Same result: still 0 cameras.

Physical reseats & swaps

• Power off between changes.
• Reseated interposer on J6 and J7; ensured correct orientation (not reversible).
• Reseated micro-coax, verified latch. Used the hires/HR_COAX jack on M0194.
• Swapped in a second M0194 board and a second IMX664 camera module.
• Tested on a second VOXL 2 Mini unit.
  • Same self-identify result on all combinations: 0 cameras.

Upgrades / reconfig

Confirmed voxl-suite 1.4.5 on Unit A; tried 1.5.0 on Unit B previously.

Ran voxl-configure-mpa after flash; re-ran voxl-configure-cameras and selected 50.

Still 0 cameras in -s.

Side note: at one point Wi-Fi didn’t appear in ip a, which I took as a sign something might be partially unseated. After reseating and power cycling, Wi-Fi is back and stable (Unit A IP: wlan0: 192.168.1.242). Camera detection remains 0.

Representative outputs

voxl-camera-server -d 0 -s
DEBUG:   Attempting to open the hal module
DEBUG:   SUCCESS: Camera module opened on attempt 0
DEBUG:   ----------- Number of cameras: 0
VERBOSE: cci-direct: using voxl_platform_mod config 0 layout
ERROR:   Did not detect any cameras plugged in
journalctl -u voxl-camera-server -n 150 --no-pager
ERROR:   Found zero cameras connected, need at least one.
...
voxl-camera-server.service: Main process exited, code=exited, status=255/n/a
voxl-camera-server.service: Start request repeated too quickly.
Failed to start voxl-camera-server.

What I’m looking for help with

1. Interposer variant sanity:

Can you confirm the exact marking for the Mini-compatible interposer (M0194-2, 1.5 mm stack)? If a 1.0 mm variant is used, could it “seem” seated yet always read as 0 cameras? (If so, I’ll re-verify the silkscreen on both boards.)

2. J6/J7 lane mapping and camId:

For M0104 + M0194-2, what is the definitive camId mapping for J6 lower/upper and J7 lower/upper? (I probed 0..3, but would like to confirm expectations.)

3. Regulator / enable sequence:

Does voxl-camera-server -s depend on any GPIO or regulator enables on the M0194 for the IMX664 to enumerate? (I tried fsync_en: 0 to avoid GPIO 109 dependencies.)

4. Are there any required mezzanine straps or jumpers on M0194 for the IMX664 path?

5. Any known detection issues for IMX664 on VOXL 2 Mini with system-image 1.8.02-M0104-14.1a-perf and voxl-suite 1.4.5 / 1.5.0?

Low-level validation tips:

Beyond -s/-l, are there recommended dmesg/sysfs prints to confirm CSIPHY/CSID/CCI bring-up? e.g.:

dmesg | grep -Ei 'imx664|imx|cci|csiphy|csid|cam'

Any module names or nodes I should expect to see if the link is alive?

Micro-coax families / pinouts:

Can you confirm the HR_COAX port we should be using for MSU-M0186 on M0194-2 and whether any other coax port would be valid/invalid for this sensor?

What I can add if helpful

• Top-down photos of M0194 seated on J6 and J7 (showing orientation and which coax jack is used).
• Silkscreen close-ups to confirm M0194-2 vs older variants.
• Fresh dmesg tails after a boot + -s attempt.

Thanks in advance—happy to run any additional diagnostics you recommend. My goal is to get a single IMX664 up first; once detected via -s, I’ll lock in the correct camId in voxl-camera-server.conf and move on to streaming (voxl-inspect-cam/voxl-streamer).

The Voxl ESC Mini product page states that the ESC is 6S in the "What's Included" section:

But the datasheet states 2-4S.

Can you clarify which is correct (and update the appropriate docs)?

Thanks!
Austin

We are looking for CAD files for the following:

• MSU-M0186-1-09
• MCCA-M0194-2

I don't see them in the catalog, or technical docs, M0186, are you able to provide them?

Thanks,
Austin