@Alex-Kushleyev
Hi Alex, I disassembled and reassembled the camera board and now I get 4 cameras in VOXL Portal ! I did reconnect the ToF sensor as well to the camera board, it seems properly connected.
The cameras working well are hires_large_color, and all three tracking cameras. I still dont see the ToF sensor , and the view of the hires camera is blurry (out of focus). The hires camera was recently replaced, so how to get it into focus is another question.
I listed the files on /usr/lib/camera and found this file: com.qti.sensormodule.irs2975c_3.bin
So now we are down to the ToF sensor (and to put the hires camera in focus). Let me know what to try next !
thanks, Hector
Latest posts made by Hector Gutierrez
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RE: Starling 2: TOF sensor not recognized by VOXL Portalposted in Starling & Starling 2
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RE: Starling 2: TOF sensor not recognized by VOXL Portalposted in Starling & Starling 2
@Alex-Kushleyev
Thanks for the prompt reply. I receive the following output:
Pipe Name | bytes | wide | hgt |exp(ms)| gain | frame id |latency(ms)| fps | mbpt
| hires_large_color |18495360 | 4056 | 3040 | 16.67 | 747 | 1880 | 93.2 | 30.0 | 44422
| hires_large_encoded | 2064 | 4056 | 3040 | 16.67 | 747 | 1879 | 100.0 | 30.0 | 0
| hires_large_grey |12330240 | 4056 | 3040 | 16.67 | 747 | 1880 | 72.2 | 30.0 | 29618
| hires_small_color | 1179648 | 1024 | 768 | 16.67 | 747 | 1880 | 50.4 | 30.0 | 2832
| hires_small_encoded | 256 | 1024 | 768 | 16.67 | 747 | 1880 | 61.6 | 30.0 | 0
| hires_small_grey | 786432 | 1024 | 768 | 16.67 | 747 | 1881 | 48.4 | 30.0 | 1888
| hires_snapshot |
| ov_overlay | 3235840 | 1280 | 2528 | 6.81 | 614 | 1640 | 84.2 | 4.7 | 1228
| tracking_down | 1024000 | 1280 | 800 | 6.90 | 614 | 1647 | 34.1 | 30.0 | 2458
| tracking_down_bayer | 1024000 | 1280 | 800 | 6.90 | 614 | 1647 | 33.7 | 30.0 | 2458
| tracking_down_misp_grey | 1024000 | 1280 | 800 | 6.73 | 570 | 1648 | 33.3 | 30.0 | 2458
| tracking_down_misp_norm | 1024000 | 1280 | 800 | 6.73 | 570 | 1648 | 36.3 | 30.0 | 2458
| tracking_front | 1024000 | 1280 | 800 | 5.63 | 307 | 1648 | 33.5 | 30.0 | 2458
| tracking_front_bayer | 1024000 | 1280 | 800 | 5.63 | 307 | 1648 | 33.7 | 30.0 | 2458
| tracking_front_misp_grey | 1024000 | 1280 | 800 | 5.63 | 307 | 1648 | 30.2 | 30.0 | 2458
| tracking_front_misp_norm | 1024000 | 1280 | 800 | 5.63 | 307 | 1648 | 35.5 | 30.0 | 2458
| tracking_rear | 1024000 | 1280 | 800 | 5.32 | 192 | 1649 | 33.9 | 30.0 | 2458
| tracking_rear_bayer | 1024000 | 1280 | 800 | 5.32 | 192 | 1649 | 33.1 | 30.0 | 2458
| tracking_rear_misp_grey | 1024000 | 1280 | 800 | 5.32 | 192 | 1649 | 31.5 | 30.0 | 2458
| tracking_rear_misp_norm | 1024000 | 1280 | 800 | 5.32 | 192 | 1649 | 35.1 | 30.0 | 2458Still dont see the ToF sensor ... Please advise
Thanks, Hector -
RE: Starling 2: TOF sensor not recognized by VOXL Portalposted in Starling & Starling 2
Yes, voxl-camera-server was running. In fact I stopped it and started it again to be sure it was running.
I also checked with voxl-inspect-services and it showed the camera server was running. And yet I cannot open any of the cameras on voxl Portal - the portal starts properly but there are no cameras. And also the IMU plots look empty.
And the ToF sensor is not being detected ...
Please let me know what to try next.Thanks, Hector
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RE: Starling 2: TOF sensor not recognized by VOXL Portalposted in Starling & Starling 2
Thanks. The output of voxl-camera-server -l is shown below, but it seems generic. Several issues remain:
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voxl-camera-server detected 4 cameras, but my drone has 5
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when opening voxl portal, zero cameras are detected. Also, the IMU plotter runs but gives empty plots.
Please let me know what to try next - it does seem like a hardware problem.
Thanks - Regards, Hector
voxl2:/$ voxl-camera-server -l
DEBUG: Attempting to open the hal module
DEBUG: SUCCESS: Camera module opened on attempt 0
DEBUG: ----------- Number of cameras: 4
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: 6, Slave Address: 0x0030, Sensor Id: 0x0356
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: 4Stats for camera: 0
ANDROID_SCALER_AVAILABLE_RAW_SIZES:
These are likely supported by the sensor
1280 x 800
1280 x 800
ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
These are NOT necessarily supported by the sensor
1280 x 800 HAL_PIXEL_FORMAT_YCbCr_420_888
1280 x 800 HAL_PIXEL_FORMAT_BLOB
1280 x 768 HAL_PIXEL_FORMAT_YCbCr_420_888
1280 x 768 HAL_PIXEL_FORMAT_BLOB
1280 x 720 HAL_PIXEL_FORMAT_YCbCr_420_888
1280 x 720 HAL_PIXEL_FORMAT_BLOB
1024 x 738 HAL_PIXEL_FORMAT_YCbCr_420_888
1024 x 738 HAL_PIXEL_FORMAT_BLOB
1024 x 768 HAL_PIXEL_FORMAT_YCbCr_420_888
1024 x 768 HAL_PIXEL_FORMAT_BLOB
864 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
864 x 480 HAL_PIXEL_FORMAT_BLOB
800 x 600 HAL_PIXEL_FORMAT_YCbCr_420_888
800 x 600 HAL_PIXEL_FORMAT_BLOB
800 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
800 x 480 HAL_PIXEL_FORMAT_BLOB
720 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
720 x 480 HAL_PIXEL_FORMAT_BLOB
640 x 512 HAL_PIXEL_FORMAT_YCbCr_420_888
640 x 512 HAL_PIXEL_FORMAT_BLOB
640 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
640 x 480 HAL_PIXEL_FORMAT_BLOB
640 x 400 HAL_PIXEL_FORMAT_YCbCr_420_888
640 x 400 HAL_PIXEL_FORMAT_BLOB
640 x 360 HAL_PIXEL_FORMAT_YCbCr_420_888
640 x 360 HAL_PIXEL_FORMAT_BLOB
352 x 288 HAL_PIXEL_FORMAT_YCbCr_420_888
352 x 288 HAL_PIXEL_FORMAT_BLOB
320 x 240 HAL_PIXEL_FORMAT_YCbCr_420_888
320 x 240 HAL_PIXEL_FORMAT_BLOB
240 x 320 HAL_PIXEL_FORMAT_YCbCr_420_888
240 x 320 HAL_PIXEL_FORMAT_BLOB
176 x 144 HAL_PIXEL_FORMAT_YCbCr_420_888
176 x 144 HAL_PIXEL_FORMAT_BLOB
1280 x 800 HAL_PIXEL_FORMAT_RAW10
1280 x 800 HAL_PIXEL_FORMAT_RAW12
1280 x 800 HAL_PIXEL_FORMAT_RAW16
1280 x 800 HAL_PIXEL_FORMAT_RAW_OPAQUEANDROID_SENSOR_INFO_SENSITIVITY_RANGE
min = 54
max = 1596ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
1596ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
min = 0ns
max = 1318629735ns====================================
Stats for camera: 1ANDROID_SCALER_AVAILABLE_RAW_SIZES:
These are likely supported by the sensor
4056 x 3040
3840 x 2160
1920 x 1080
1920 x 1080
1920 x 1080
1280 x 720
1280 x 720ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
These are NOT necessarily supported by the sensor
4056 x 3040 HAL_PIXEL_FORMAT_YCbCr_420_888
4056 x 3040 HAL_PIXEL_FORMAT_BLOB
4000 x 3000 HAL_PIXEL_FORMAT_YCbCr_420_888
4000 x 3000 HAL_PIXEL_FORMAT_BLOB
3840 x 2160 HAL_PIXEL_FORMAT_YCbCr_420_888
3840 x 2160 HAL_PIXEL_FORMAT_BLOB
3264 x 2448 HAL_PIXEL_FORMAT_YCbCr_420_888
3264 x 2448 HAL_PIXEL_FORMAT_BLOB
3200 x 2400 HAL_PIXEL_FORMAT_YCbCr_420_888
3200 x 2400 HAL_PIXEL_FORMAT_BLOB
2976 x 2976 HAL_PIXEL_FORMAT_YCbCr_420_888
2976 x 2976 HAL_PIXEL_FORMAT_BLOB
2688 x 1512 HAL_PIXEL_FORMAT_YCbCr_420_888
2688 x 1512 HAL_PIXEL_FORMAT_BLOB
2592 x 1944 HAL_PIXEL_FORMAT_YCbCr_420_888
2592 x 1944 HAL_PIXEL_FORMAT_BLOB
2048 x 1536 HAL_PIXEL_FORMAT_YCbCr_420_888
2048 x 1536 HAL_PIXEL_FORMAT_BLOB
1920 x 1440 HAL_PIXEL_FORMAT_YCbCr_420_888
1920 x 1440 HAL_PIXEL_FORMAT_BLOB
1928 x 1208 HAL_PIXEL_FORMAT_YCbCr_420_888
1928 x 1208 HAL_PIXEL_FORMAT_BLOB
1920 x 1080 HAL_PIXEL_FORMAT_YCbCr_420_888
1920 x 1080 HAL_PIXEL_FORMAT_BLOB
1600 x 1200 HAL_PIXEL_FORMAT_YCbCr_420_888
1600 x 1200 HAL_PIXEL_FORMAT_BLOB
1440 x 1080 HAL_PIXEL_FORMAT_YCbCr_420_888
1440 x 1080 HAL_PIXEL_FORMAT_BLOB
1280 x 960 HAL_PIXEL_FORMAT_YCbCr_420_888
1280 x 960 HAL_PIXEL_FORMAT_BLOB
1280 x 800 HAL_PIXEL_FORMAT_YCbCr_420_888
1280 x 800 HAL_PIXEL_FORMAT_BLOB
1280 x 768 HAL_PIXEL_FORMAT_YCbCr_420_888
1280 x 768 HAL_PIXEL_FORMAT_BLOB
1280 x 720 HAL_PIXEL_FORMAT_YCbCr_420_888
1280 x 720 HAL_PIXEL_FORMAT_BLOB
1080 x 1080 HAL_PIXEL_FORMAT_YCbCr_420_888
1080 x 1080 HAL_PIXEL_FORMAT_BLOB
1024 x 738 HAL_PIXEL_FORMAT_YCbCr_420_888
1024 x 738 HAL_PIXEL_FORMAT_BLOB
1024 x 768 HAL_PIXEL_FORMAT_YCbCr_420_888
1024 x 768 HAL_PIXEL_FORMAT_BLOB
864 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
864 x 480 HAL_PIXEL_FORMAT_BLOB
800 x 600 HAL_PIXEL_FORMAT_YCbCr_420_888
800 x 600 HAL_PIXEL_FORMAT_BLOB
800 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
800 x 480 HAL_PIXEL_FORMAT_BLOB
720 x 1280 HAL_PIXEL_FORMAT_YCbCr_420_888
720 x 1280 HAL_PIXEL_FORMAT_BLOB
720 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
720 x 480 HAL_PIXEL_FORMAT_BLOB
640 x 512 HAL_PIXEL_FORMAT_YCbCr_420_888
640 x 512 HAL_PIXEL_FORMAT_BLOB
640 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
640 x 480 HAL_PIXEL_FORMAT_BLOB
640 x 400 HAL_PIXEL_FORMAT_YCbCr_420_888
640 x 400 HAL_PIXEL_FORMAT_BLOB
640 x 360 HAL_PIXEL_FORMAT_YCbCr_420_888
640 x 360 HAL_PIXEL_FORMAT_BLOB
352 x 288 HAL_PIXEL_FORMAT_YCbCr_420_888
352 x 288 HAL_PIXEL_FORMAT_BLOB
320 x 240 HAL_PIXEL_FORMAT_YCbCr_420_888
320 x 240 HAL_PIXEL_FORMAT_BLOB
240 x 320 HAL_PIXEL_FORMAT_YCbCr_420_888
240 x 320 HAL_PIXEL_FORMAT_BLOB
176 x 144 HAL_PIXEL_FORMAT_YCbCr_420_888
176 x 144 HAL_PIXEL_FORMAT_BLOB
4056 x 3040 HAL_PIXEL_FORMAT_RAW10
4056 x 3040 HAL_PIXEL_FORMAT_RAW12
4056 x 3040 HAL_PIXEL_FORMAT_RAW16
4056 x 3040 HAL_PIXEL_FORMAT_RAW_OPAQUE
3840 x 2160 HAL_PIXEL_FORMAT_RAW10
3840 x 2160 HAL_PIXEL_FORMAT_RAW12
3840 x 2160 HAL_PIXEL_FORMAT_RAW16
3840 x 2160 HAL_PIXEL_FORMAT_RAW_OPAQUE
1920 x 1080 HAL_PIXEL_FORMAT_RAW10
1920 x 1080 HAL_PIXEL_FORMAT_RAW12
1920 x 1080 HAL_PIXEL_FORMAT_RAW16
1920 x 1080 HAL_PIXEL_FORMAT_RAW_OPAQUEANDROID_SENSOR_INFO_SENSITIVITY_RANGE
min = 100
max = 35200ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
2200ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
min = 0ns
max = 243753000ns====================================
Stats for camera: 2ANDROID_SCALER_AVAILABLE_RAW_SIZES:
These are likely supported by the sensor
1280 x 800
1280 x 800ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
These are NOT necessarily supported by the sensor
1280 x 800 HAL_PIXEL_FORMAT_YCbCr_420_888
1280 x 800 HAL_PIXEL_FORMAT_BLOB
1280 x 768 HAL_PIXEL_FORMAT_YCbCr_420_888
1280 x 768 HAL_PIXEL_FORMAT_BLOB
1280 x 720 HAL_PIXEL_FORMAT_YCbCr_420_888
1280 x 720 HAL_PIXEL_FORMAT_BLOB
1024 x 738 HAL_PIXEL_FORMAT_YCbCr_420_888
1024 x 738 HAL_PIXEL_FORMAT_BLOB
1024 x 768 HAL_PIXEL_FORMAT_YCbCr_420_888
1024 x 768 HAL_PIXEL_FORMAT_BLOB
864 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
864 x 480 HAL_PIXEL_FORMAT_BLOB
800 x 600 HAL_PIXEL_FORMAT_YCbCr_420_888
800 x 600 HAL_PIXEL_FORMAT_BLOB
800 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
800 x 480 HAL_PIXEL_FORMAT_BLOB
720 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
720 x 480 HAL_PIXEL_FORMAT_BLOB
640 x 512 HAL_PIXEL_FORMAT_YCbCr_420_888
640 x 512 HAL_PIXEL_FORMAT_BLOB
640 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
640 x 480 HAL_PIXEL_FORMAT_BLOB
640 x 400 HAL_PIXEL_FORMAT_YCbCr_420_888
640 x 400 HAL_PIXEL_FORMAT_BLOB
640 x 360 HAL_PIXEL_FORMAT_YCbCr_420_888
640 x 360 HAL_PIXEL_FORMAT_BLOB
352 x 288 HAL_PIXEL_FORMAT_YCbCr_420_888
352 x 288 HAL_PIXEL_FORMAT_BLOB
320 x 240 HAL_PIXEL_FORMAT_YCbCr_420_888
320 x 240 HAL_PIXEL_FORMAT_BLOB
240 x 320 HAL_PIXEL_FORMAT_YCbCr_420_888
240 x 320 HAL_PIXEL_FORMAT_BLOB
176 x 144 HAL_PIXEL_FORMAT_YCbCr_420_888
176 x 144 HAL_PIXEL_FORMAT_BLOB
1280 x 800 HAL_PIXEL_FORMAT_RAW10
1280 x 800 HAL_PIXEL_FORMAT_RAW12
1280 x 800 HAL_PIXEL_FORMAT_RAW16
1280 x 800 HAL_PIXEL_FORMAT_RAW_OPAQUEANDROID_SENSOR_INFO_SENSITIVITY_RANGE
min = 54
max = 1596ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
1596ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
min = 0ns
max = 1318629735ns====================================
Stats for camera: 3ANDROID_SCALER_AVAILABLE_RAW_SIZES:
These are likely supported by the sensor
1280 x 800
1280 x 800ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
These are NOT necessarily supported by the sensor
1280 x 800 HAL_PIXEL_FORMAT_YCbCr_420_888
1280 x 800 HAL_PIXEL_FORMAT_BLOB
1280 x 768 HAL_PIXEL_FORMAT_YCbCr_420_888
1280 x 768 HAL_PIXEL_FORMAT_BLOB
1280 x 720 HAL_PIXEL_FORMAT_YCbCr_420_888
1280 x 720 HAL_PIXEL_FORMAT_BLOB
1024 x 738 HAL_PIXEL_FORMAT_YCbCr_420_888
1024 x 738 HAL_PIXEL_FORMAT_BLOB
1024 x 768 HAL_PIXEL_FORMAT_YCbCr_420_888
1024 x 768 HAL_PIXEL_FORMAT_BLOB
864 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
864 x 480 HAL_PIXEL_FORMAT_BLOB
800 x 600 HAL_PIXEL_FORMAT_YCbCr_420_888
800 x 600 HAL_PIXEL_FORMAT_BLOB
800 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
800 x 480 HAL_PIXEL_FORMAT_BLOB
720 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
720 x 480 HAL_PIXEL_FORMAT_BLOB
640 x 512 HAL_PIXEL_FORMAT_YCbCr_420_888
640 x 512 HAL_PIXEL_FORMAT_BLOB
640 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
640 x 480 HAL_PIXEL_FORMAT_BLOB
640 x 400 HAL_PIXEL_FORMAT_YCbCr_420_888
640 x 400 HAL_PIXEL_FORMAT_BLOB
640 x 360 HAL_PIXEL_FORMAT_YCbCr_420_888
640 x 360 HAL_PIXEL_FORMAT_BLOB
352 x 288 HAL_PIXEL_FORMAT_YCbCr_420_888
352 x 288 HAL_PIXEL_
FORMAT_BLOB
320 x 240 HAL_PIXEL_FORMAT_YCbCr_420_888
320 x 240 HAL_PIXEL_FORMAT_BLOB
240 x 320 HAL_PIXEL_FORMAT_YCbCr_420_888
240 x 320 HAL_PIXEL_FORMAT_BLOB
176 x 144 HAL_PIXEL_FORMAT_YCbCr_420_888
176 x 144 HAL_PIXEL_FORMAT_BLOB
1280 x 800 HAL_PIXEL_FORMAT_RAW10
1280 x 800 HAL_PIXEL_FORMAT_RAW12
1280 x 800 HAL_PIXEL_FORMAT_RAW16
1280 x 800 HAL_PIXEL_FORMAT_RAW_OPAQUEANDROID_SENSOR_INFO_SENSITIVITY_RANGE
min = 54
max = 1596ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
1596ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
min = 0ns
max = 1318629735ns====================================
Number of cameras detected: 4 -
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RE: Starling 2: TOF sensor not recognized by VOXL Portalposted in Starling & Starling 2
Hi Alex - apologies for the long delay. Here is the output I get from voxl-camera-server -l :
voxl2:/$ voxl-camera-server -l
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: 0In other words, my drone does not see any cameras at all. The same shows when running VOXL portal (zero cameras).
I just run apt update && apt upgrade successfully in this drone.The other command you mentioned gives the following output:
voxl2:/$ ls /usr/lib/camera/sensormodule
/usr/lib/camera/com.qti.sensormodule.imx412_2.bin /usr/lib/camera/com.qti.sensormodule.imx412_3.binPlease advise - something is really wrong here since I cant see any of my cameras. My Starling 2 has the camera configuration C27 (triple tracking)
Thanks, Hector