ModalAI Forum

Hi Cbay, There is a small clock buffer on the edge of the PCB. An RMA can only replace the whole board, not replace a single device. The part to check would be here: [image: 1779297839725-image-1.png]

I have uploaded the latest ar0144 drivers with fsin versions for all camera slots here : https://storage.googleapis.com/modalai_public/temp/ar0144/ar0144_drivers_20260402.zip There are two additional files (inside the zip), which you should copy to /usr/lib/camera to make sure you have the latest updates: com.qti.sensor.ar0144.so -- contains functions for exposure / gain control (we recently made some improvements to make gain control smoother) com.qti.tuned.default.bin -- fixed gain scaling so that min gain (1.0x analog gain) is equal to 100 in the HAL3 gain units, not 54 (and the max gain will be 29.6 = 29600 for AR0144) -- you can also double check this using voxl-camera-server -l and update the min/max gain settings in your voxl-camera-server.conf to make sure you are using the full range. My colleague will follow up with a diagram for locations of the DNI resistors that need to be installed to enable sync signal for camera slots 1 and 3 (0402 0-ohm resistor) Alex

Yes, I believe the system image v1.8.08 has all the above changes built applied. Easy way to confirm voxl-camera-server -l and check the printed min gain. it should be 100 not 54. if you see 100, then you have the latest com.quite.tuned.default.bin exposure control improvements should also be in there as of v1.8.05 (com.qti.sensor.ar0144.so). this is harder to test, but sdk 1.6.5 should have the latest. To test, cover up the camera to drive the exposure and gain to the max and then uncover and you should observe smooth transition, no jumps in image brightness. it looks like we are not shipping com.qti.sensormodule.ar0144_fsin_3.bin in the system image right now, but like i mentioned earlier we are moving towards putting the camera drivers into the voxl-camera-server repository.. but for now you will need to manually copy that one. Alex

@cbay voxl-fpv-px4 is based on voxl-px4 but has some custom tuning code / parameters for our fpv drones that isn't in voxl-px4. So, it's kind of a superset. But there isn't anything related to low level i2c drivers so I have no idea how that could be causing this issue.

@Alex-Kushleyev Found the reason why it was skipping. In /px4-firmware/src/lib/parameters/CMakeLists.txt there is a line that skips all modules that match 'pwm_out'. I was able to disable that for PCA9685. Once I disabled the module.yaml file being skipped it worked. No need for the .c file (which makes sense, that is just the old way to do the .yaml)

Carson— I'm trying to do the same: create a Kicad symbol for VOXL 2 as a module (ie, no internal details, just interfaces). Have you had any luck in locating something? Best, —John

@Alex-Kushleyev sure thing. As per your suggestion, I modified voxl-lepton-server by moving all the Lepton camera-specific logic into a C++ class and added locks to any I2C operations to prevent race conditions. I then just created 2 instances of the LeptonCamera class I made which parse and publish the camera feeds to their own pipes which I can view in voxl-portal. I didn't need to disable any I2C interface for the second Lepton. I'm not too sure what you were referring to by that. In regards to the horizontal line artifacts, those don't seems to consistently appear and I don't know what causes it. I'll investigate it further. My next steps are to get the Leptons working with voxl-open-vins-server. One question I had was that our VOXL 2 Mini appears to be running a service called voxl-lepton-tracker however I cannot find the source code for this anywhere on the voxl public GitLab. Was it removed or hidden?

@cbay , As long as the Boson / Boson+ 640 (or 320) supports MIPI output, it should work. We believe that some Boson models do NOT have MIPI support (HW limitation) but all Boson+ do have MIPI support. Please check with your vendor to make sure MIPI output is supported. Also, did you actually mean M0187, or something else? M0187 is an adapter for a Flir Lepton : https://docs.modalai.com/M0187/ Alex

@cbay , We support any camera that is compatible with UVC (plugged into a usb port). Please look into voxl-uvc-server. https://docs.modalai.com/voxl-uvc-server/ Regarding NIR, have you considered using a regular camera (most cameras are sensitive to NIR) and install a lens with a NIR pass filter (if you dont want to see visible light)? Then you could use one of our hi-res cameras like IMX412 or IMX664. I can get you spectral response plot of those sensors if you need. Alex