Hardware: (board / drone / SKU, serial # if you have it)
VOXL2 (Custom drone)
Software version: (paste the output of voxl-version)
dpkg-query: package 'voxl-suite' is not installed and no information is available
Use dpkg --info (= dpkg-deb --info) to examine archive files,
and dpkg --contents (= dpkg-deb --contents) to list their contents.
--------------------------------------------------------------------------------
system-image: 1.8.02-M0054-14.1a-perf
kernel: #1 SMP PREEMPT Mon Nov 11 22:47:44 UTC 2024 4.19.125
--------------------------------------------------------------------------------
hw platform: M0054
mach.var: 1.0.1
--------------------------------------------------------------------------------
voxl-suite:
--------------------------------------------------------------------------------
Packages:
Repo: http://voxl-packages.modalai.com/ qrb5165 sdk-1.6
Last Updated: 2026-09-08 20:00:54
List:
kernel-module-voxl-fsync-mod-4.19.125 1.0-r0
kernel-module-voxl-gpio-mod-4.19.125 1.0-r0
kernel-module-voxl-platform-mod-4.19.125 1.0-r0
libfc-sensor 1.0.12-202603311017
libmodal-cv 0.6.1
libmodal-exposure 0.1.5
libmodal-flow 1.0.5
libmodal-journal 0.2.7
libmodal-json 0.4.8
libmodal-pipe 2.14.12
libqrb5165-io 0.6.3
libvoxl-cci-direct 0.4.0
libvoxl-codec 0.1.1
libvoxl-cutils 0.1.6
modalai-slpi 1.2.3-202604071122
mv-voxl 0.1-r0
qrb5165-bind 0.1-r0
qrb5165-dfs-server 0.2.0
qrb5165-imu-server 1.2.4
qrb5165-mini-tof-server 0.2.2-apoorv
qrb5165-rangefinder-server 0.1.6
qrb5165-slpi-test-sig 01-r0
qrb5165-system-tweaks 0.3.4
qrb5165-tflite 2.8.0-2
voxl-bind-spektrum 0.1.1
voxl-camera-calibration 0.6.2
voxl-camera-server 2.2.29
voxl-ceres-solver 2:2.0.0-3
voxl-configurator 1.1.35
voxl-cpu-monitor 0.7.7
voxl-docker-support 1.3.1
voxl-elrs 1.1.7
voxl-esc 1.6.3
voxl-esptool 0.2.1
voxl-fsync-mod 1.0-r0
voxl-gphoto2-server 0.0.10
voxl-gpio-mod 1.0-r0
voxl-io-server 0.1.3
voxl-jpeg-turbo 2.1.3-7
voxl-lepton-server 1.4.1
voxl-libgeographic 1.0.0
voxl-libgphoto2 0.0.4
voxl-libuvc 1.0.7
voxl-logger 0.6.5-202607281100
voxl-mapper 0.2.4
voxl-mavcam-manager 0.6.1
voxl-mavlink 0.1.6
voxl-mavlink-server 1.4.16
voxl-microdds-agent 3.0.0-0
voxl-modem 1.2.5
voxl-mongoose 7.19.0-1
voxl-mpa-to-ros2 0.0.7-202511100959
voxl-mpa-tools 1.5.8
voxl-nlopt 2.5.0-5
voxl-open-vins-server 0.6.2
voxl-opencv 4.5.5-3
voxl-osd 0.4.12
voxl-platform-mod 1.0-r0
voxl-portal 0.9.4
voxl-px4 1.14.0-2.0.134
voxl-px4-imu-server 0.1.2
voxl-px4-params 0.9.15
voxl-remote-id 0.0.9
voxl-reset-slpi 0.0.4-202603311011
voxl-ros2-foxy 0.0.1-202511141235
voxl-streamer 0.8.1
voxl-tag-detector 0.1.0-custom
voxl-tflite-server 0.5.1
voxl-utils 1.4.4
voxl-uvc-server 0.1.8
voxl-vision-hub 1.9.21
voxl-voxblox 1.1.5
voxl-vtx 2.2.42
voxl2-io 0.0.3
voxl2-system-image 1.8.02-r0
voxl2-wlan 1.0-r0
--------------------------------------------------------------------------------
Configuration / services: (paste the output of voxl-inspect-services)
voxl2:~$ voxl-inspect-services
Scanning services...
Service Name | Enabled | Running | CPU Usage
-------------------------------------------------------------------
docker-autorun | Disabled | Not Running |
modallink-relink | Disabled | Not Running |
voxl-camera-server | Enabled | Not Running |
voxl-cpu-monitor | Enabled | Running | 1.2%
voxl-dfs-server | Disabled | Not Running |
voxl-imu-server | Enabled | Running | 3.1%
voxl-io-server | Disabled | Not Running |
voxl-lepton-server | Disabled | Not Running |
voxl-logger-auto | Disabled | Not Running |
voxl-logger | Disabled | Not Running |
voxl-mapper | Disabled | Not Running |
voxl-mavcam-manager | Disabled | Not Running |
voxl-mavlink-server | Enabled | Running | 3.1%
voxl-microdds-agent | Enabled | Running | 6.5%
voxl-mini-tof-server | Disabled | Not Running |
voxl-modem-doodle | Disabled | Not Running |
voxl-modem | Disabled | Not Running |
voxl-mpa-to-ros2 | Enabled | Running | 0.0%
voxl-open-vins-server | Disabled | Not Running |
voxl-osd | Disabled | Not Running |
voxl-portal | Enabled | Running | 0.1%
voxl-px4-imu-server | Disabled | Not Running |
voxl-px4 | Enabled | Running | 44.4%
voxl-rangefinder-server | Disabled | Not Running |
voxl-remote-id | Disabled | Not Running |
voxl-softap | Disabled | Not Running |
voxl-static-ip | Disabled | Not Running |
voxl-streamer | Enabled | Running | 0.0%
voxl-tag-detector | Enabled | Running | 0.0%
voxl-tflite-server | Disabled | Not Running |
voxl-time-sync | Disabled | Not Running |
voxl-uvc-server | Disabled | Not Running |
voxl-vision-hub | Enabled | Running | 2.2%
voxl-vrx | Disabled | Not Running |
voxl-vtx | Disabled | Not Running |
voxl-wait-for-fs | Enabled | Completed |
What I am trying to do:
Run a tracking down and tracking front camera
What actually happens: (error messages, behavior)
When running voxl-camera-server, the service just aborts, log below:
voxl2:~$ voxl-camera-server
Setting MISP AWB to Auto
MISP channels enabled in defaults : 0
MISP channels enabled in config file: 0
Setting MISP AWB to Auto
MISP channels enabled in defaults : 0
MISP channels enabled in config file: 0
=================================================================
configuration for 2 cameras:
cam #0
name: tracking_front
type: ar0144
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: 1280
preview_height: 800
en_misp: 1
misp_width: 1280
misp_height: 800
demosaic: auto
en_small_video: 0
small_video_width: -1
small_video_height: -1
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: 12000
gain_min : 54
gain_max : 8000
standby_enabled: 0
decimator: 1
independent_exposure:0
cam #1
name: tracking_down
type: ar0144
bayer_type: 0
enabled: 1
camera_id: 1
camera_id_second: -1
fps: 30
en_rotate: 0
en_rotate2: 0
en_preview: 1
en_raw_preview: 1
preview_width: 1280
preview_height: 800
en_misp: 1
misp_width: 1280
misp_height: 800
demosaic: auto
en_small_video: 0
small_video_width: -1
small_video_height: -1
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: 12000
gain_min : 54
gain_max : 8000
standby_enabled: 0
decimator: 1
independent_exposure:0
fsync_en: 0
fsync_gpio: 109
=================================================================
Cam idx: 0, Cam slot: 1, Slave Address: 0x0030, Sensor Id: 0x0356
Cam idx: 1, Cam slot: 6, Slave Address: 0x0030, Sensor Id: 0x0356
thread is locked to cores: 4 5 6 7
connected to mavlink pipe
Connected to cpu-monitor
Starting Camera: tracking_front (id #0)
ModalExposureMSV: initializing for camera name tracking_front type ar0144
gbm_create_device(156): Info: backend name is: msm_drm
MISP Initializing for camera tracking_front
Detected 1 platform(s)
Detected 1 GPU device(s)
Estimated imu dt = 0.000977s
ERROR in json_from_yaml, failed to open file
MISP: Loading intrinsics cal file tracking_front_intrinsics.yml for camera tracking_front, ret -1
WARNING: Lens calibration for camera tracking_front is missing (tracking_front_intrinsics.yml). Using defaults:
Creating VOXL Video Encoder: 1280x800 H265, CH_OUT: -1776841196, numInputBufs: 16
gbm_create_device(156): Info: backend name is: msm_drm
WARNING: OMX SetTargetBitrate: H265 CBR requires bps >= 3.0Mbit (1200000 bps provided). Using FPS hack. scale = 2.500000
Starting Camera: tracking_down (id #1)
ModalExposureMSV: initializing for camera name tracking_down type ar0144
MISP Initializing for camera tracking_down
ERROR in json_from_yaml, failed to open file
MISP: Loading intrinsics cal file tracking_down_intrinsics.yml for camera tracking_down, ret -1
WARNING: Lens calibration for camera tracking_down is missing (tracking_down_intrinsics.yml). Using defaults:
Creating VOXL Video Encoder: 1280x800 H265, CH_OUT: -1759368012, numInputBufs: 16
gbm_create_device(156): Info: backend name is: msm_drm
WARNING: OMX SetTargetBitrate: H265 CBR requires bps >= 3.0Mbit (1200000 bps provided). Using FPS hack. scale = 2.500000
------ voxl-camera-server: Started 2 of 2 cameras
------ voxl-camera-server: Camera server is now running
Aborted
The last Aborted comes after a couple of seconds
What is interesting to note, is that the camera server start working after a couple of systemctl restart voxl-camera-server commands, both the tracking down and tracking front camera feeds show up in voxl-portal
Steps to reproduce:
Heres how my /data/modalai/custom_acmera_config.txt is defined:
#!/bin/bash
################################################################################
#
# This file allows setting of custom camera configurations by defining what
# sensors are plugged into which port.
#
# There is no guarantee that any arbitrary configuration will work. Only the
# predefined camera configs at https://docs.modalai.com/voxl2-camera-configs/
# are supported.
#
# each slot can be one of the following sensors:
#
# pmd-tof
# pmd-tof-liow2
# ov7251
# ov7251-combo
# ov9782
# ov9782-combo
# ar0144
# ar0144-fsin (for use with m0173 and Starling 2 only)
# ar0144-fsin-combo (for use with m0173 and Starling 2 only)
# ar0144-12bit
# ar0144-12bit-fsin (for use with m0173 and Starling 2 only)
# ar0144-12bit-fsin-combo (for use with m0173 and Starling 2 only)
# imx214
# imx412
# imx412-fpv (low latency mode)
# imx678
#
#
# When using a combo mode pair, you must also add a JX_COMBO_MODE field which
# specifies is the pair is to be set up as either a stereo pair ordered
# left-right, right-left, or treated as two independent cameras. If you are
# using a combo-mode flex but only physically connect one of the two cameras
# then select "single" it does not matter which one you connect.
#
# For example:
# J6_LOWER_COMBO_MODE="left-right"
# J6_LOWER_COMBO_MODE="right-left"
# J6_LOWER_COMBO_MODE="independent"
# J6_LOWER_COMBO_MODE="single"
#
# when running "independent" combo mode, also add a NAME2 field for the second cam
# e.g J6_LOWER_NAME2="tracking_rear"
#
# for all sensors except TOF, you can specify a "rotate" flag to
# rotate the image 180 degrees e.g. J6_LOWER_ROTATE="true" or "false"
# for stereo pairs (e.g. ov7251 combo or ar0144-slave-strereo) you can specify
# "rotate-first-only" or "rotate-second-only" to only rotate one, other wise
# when setting the rotate option to "true" both will be rotated.
#
#
# Once configured, this file should live in /data/modalai/custom_camera-config.txt
# then run voxl-configure-cameras custom to load it in
#
#
# cp /usr/share/modalai/voxl-camera-server/custom_camera_config.txt /data/modalai/
#
# We also suggest changing your /data/modalai/sku.txt file to have a camera
# config term "CC" such as MRB-D0005-4-V2-CC
################################################################################
J6_LOWER_SENSOR=""
J6_LOWER_NAME=""
J6_LOWER_ROTATE="false"
J6_UPPER_SENSOR="ar0144"
J6_UPPER_NAME="tracking_front"
J6_UPPER_ROTATE="false"
J6_LOWER_COMBO1_SENSOR="ar0144-fsin-combo"
J6_LOWER_COMBO1_NAME="tracking_down"
J6_LOWER_COMBO1_ROTATE="false"
J7_LOWER_SENSOR=""
J7_LOWER_NAME=""
J7_LOWER_ROTATE="false"
J7_UPPER_SENSOR=""
J7_UPPER_NAME=""
J7_UPPER_ROTATE="false"
J8_LOWER_SENSOR=""
J8_LOWER_NAME=""
J8_LOWER_ROTATE="false"
J8_UPPER_SENSOR=""
J8_UPPER_NAME=""
J8_UPPER_ROTATE="false"
Logs / pictures: (attach files; PX4 logs -> https://logs.px4.io)
Heres how the voxl-camera-server.conf is defined:
/**
* voxl-camera-server Configuration File
*
* Each camera has configurations for up to 4 HAL3 streams:
* - `preview` stream for raw unprocessed images from CV cameras
* - `small_video` 720p (ish) h264/h265 compressed for fpv video streaming
* - `large_video` 4k (ish) h264/h265 for onboard video recording to disk
* - `snapshot` ISP-processed JPG snapshots that get saved to disk
*
* on QRB5165 platforms (VOXL2 and VOXL2 mini) you can only have 3 of the 4 enabled
*
* This file is generated from default values by voxl-configure-cameras.
* Do not expect arbitrary resolutions to work, the ISP and video compression
* pipelines only support very specific resolutions.
*
* The default video compression mode is cqp or Constant Quantization Parameter
*
*
*
*/
{
"version": 0.1,
"fsync_en": false,
"fsync_gpio": 109,
"cameras": [{
"type": "ar0144",
"name": "tracking_front",
"enabled": true,
"camera_id": 0,
"fps": 30,
"en_rotate": false,
"en_preview": true,
"preview_width": 1280,
"preview_height": 800,
"en_raw_preview": true,
"en_misp": true,
"misp_width": 1280,
"misp_height": 800,
"misp_venc_enable": true,
"misp_venc_mode": "h265",
"misp_venc_br_ctrl": "cbr",
"misp_venc_Qfixed": 38,
"misp_venc_Qmin": 15,
"misp_venc_Qmax": 50,
"misp_venc_nPframes": 9,
"misp_venc_irPeriod": 0,
"misp_venc_irPeriodType": 1,
"misp_venc_mbps": 1.2,
"misp_awb": "auto",
"misp_gamma": 1,
"misp_zoom": 1,
"demosaic": "auto",
"ae_mode": "lme_msv",
"gain_min": 54,
"gain_max": 8000,
"ae_desired_msv": 60,
"exposure_min_us": 20,
"exposure_max_us": 12000,
"exposure_soft_min_us": 5000,
"ae_filter_alpha": 0.6,
"ae_ignore_fraction": 0.2,
"ae_slope": 0.05,
"ae_exposure_period": 1,
"ae_gain_period": 1
}, {
"type": "ar0144",
"name": "tracking_down",
"enabled": true,
"camera_id": 1,
"fps": 30,
"en_rotate": false,
"en_preview": true,
"preview_width": 1280,
"preview_height": 800,
"en_raw_preview": true,
"en_misp": true,
"misp_width": 1280,
"misp_height": 800,
"misp_venc_enable": true,
"misp_venc_mode": "h265",
"misp_venc_br_ctrl": "cbr",
"misp_venc_Qfixed": 38,
"misp_venc_Qmin": 15,
"misp_venc_Qmax": 50,
"misp_venc_nPframes": 9,
"misp_venc_irPeriod": 0,
"misp_venc_irPeriodType": 1,
"misp_venc_mbps": 1.2,
"misp_awb": "auto",
"misp_gamma": 1,
"misp_zoom": 1,
"demosaic": "auto",
"ae_mode": "lme_msv",
"gain_min": 54,
"gain_max": 8000,
"ae_desired_msv": 60,
"exposure_min_us": 20,
"exposure_max_us": 12000,
"exposure_soft_min_us": 5000,
"ae_filter_alpha": 0.6,
"ae_ignore_fraction": 0.2,
"ae_slope": 0.05,
"ae_exposure_period": 1,
"ae_gain_period": 1
}]
}
