@Jordyn-Heil ,
Please use the sensormodule driver for the specific camera slot (which has been updated to use alternate slave address 0x20 instead of default 0x30 via the resistor change): https://storage.googleapis.com/modalai_public/temp/ar0144/ar0144_drivers_alt_slave_addr_0x20_20250709.zip
In my test with 4 AR0144, i connected the standard C27 configuration, and added the 4th AR0144 like so:
- M0173 + 3x AR0144 + 1x IMX412 (C27 config)
- M0155 + 1x AR0144 plugged into J8
So the 4th AR0144 camera will have the camera Slot 4,
If you tell me where exactly you are plugging in all the cameras, i can help with figuring out which slot IDs each camera has.
Regarding the following error, "Got unsupported format in getUVStartFromFmt, returning nullptr", i think it should be ok. Does the camera server exit in this case? it should not exit. I just tried it (to enable misp venc) and it still provides the color stream (although the h264/h265 stream is does not get published, since this specific processing pipeline is not set up for that).
For using M0173, did you set up your kernel for 1.0.1 variant? I assume so, otherwise, voxl-configure-cameras
would not let you select C27? Please confirm. Do you have the cameras connected in the same way as shown in the C27 diagram? https://docs.modalai.com/voxl2-coax-camera-bundles/#mdk-m0173-1-02 . It is possible that because one of the cameras is missing (not detected) because you swapped the resistor for alternate i2c id, then the camera ID for hires is wrong in the voxl_camera_server.conf
.
Here are all the sensormodules that i have for this setup in /usr/lib/camera/
(assuming the modified AR0144 is connected to J8, so slot 4.
com.qti.sensormodule.ar0144_combo_0.bin
com.qti.sensormodule.ar0144_combo_6.bin
com.qti.sensormodule.ar0144_fsin_0x20_4.bin
com.qti.sensormodule.ar0144_fsin_2.bin
com.qti.sensormodule.imx412_fpv_1.bin
com.qti.sensormodule.irs2975c_3.bin
voxl-camera-server -l
shows (four AR0144 visible with sensor ID 0x0356
) and the corresponding slot IDs and camera IDs:
DEBUG: Cam idx: 0, Cam slot: 0, Slave Address: 0x0030, Sensor Id: 0x0356
DEBUG: Cam idx: 1, Cam slot: 1, Slave Address: 0x0034, Sensor Id: 0x0577
DEBUG: Cam idx: 2, Cam slot: 2, Slave Address: 0x0030, Sensor Id: 0x0356
DEBUG: Cam idx: 3, Cam slot: 3, Slave Address: 0x007A, Sensor Id: 0x2975
DEBUG: Cam idx: 4, Cam slot: 4, Slave Address: 0x0020, Sensor Id: 0x0356
DEBUG: Cam idx: 5, Cam slot: 6, Slave Address: 0x0030, Sensor Id: 0x0356
The 4th AR0144 will actually be in slot 4, so it will bump the other AR0144 in slot 6 from being cam id 4 to cam id 5. Slot 6 is the AR0144 that is standard in the C27 config.
Please double check everything step by step and let me know if something is still not working.
Alex