Posts made by jcai

Unsure if the following is expected behaviour, but I doubt it is.

Reproduce:

• Start voxl-streamer listening to hires_front_small_encoded
• Connect to the stream (e.g., ffplay -i rtsp://<voxl ip>:<port>/live)
• Confirm that the stream looks good
• Disconnect from the stream (CTRL-C the ffplay command)
• Within 60 seconds, re-run the same ffplay command
• Observe that the stream looks good but will freeze within 60 seconds (e.g., the command is restarted 15 seconds after initially closing the connection. The new stream will freeze after 45 seconds
• Observe that voxl-streamer outputs Removed 1 sessions
• Disconnect from the new stream (CTRL-C ffplay)
• Observe that voxl-streamer outputs Removed 1 sessions again after 60 seconds

Based on behaviour and source code, what I think is happening:
When the first connection is closed, voxl-streamer detects this and decrements the number of clients. However, it takes 60 seconds for the gstreamer session to time out and close. During this time, if another client connects, there are now 2 gstreamer sessions and 1 voxl-streamer client. 60 seconds after the first connection is closed, the inactive gstreamer session is cleaned up. Since voxl-streamer doesn't know that this session was already inactive, when it closes, voxl-streamer decrements its number of clients even though the one client it has still has an active gstreamer session.

@Alex-Kushleyev Great, I'll be updating with how the tests go

Update: the filter was absolutely the difference maker

Awesome, thanks!

@Alex-Kushleyev
https://docs.modalai.com/voxl2-mini-linux-user-guide/
https://docs.modalai.com/voxl2-mini-connectors/#j7---camera-group-1-specific-pinout
The linux user guide says that i2c0 is on J7, but the connectors page only has i2c4 on pins 34/36. Could you confirm the correct bus and pin numbers here? I'm assuming i2c4 was on an older system image, in which case are the correct pins still 34/36?

Also, turns out we're only using one camera so J7 will be free. As for QUP0, that makes sense, thanks

Sort of a 2-part question:

On a VOXL2 mini, if I have both an M0155 and an M0181 on J6 and J7, is there any way to access i2c-0 on J7? I'm assuming if the coax adapter is on J7, there's no way to break out the i2c pins?

If not, then my other option is to use QUP0 on J19. I'm not running px4. Is it possible to somehow use that i2c bus from the apps proc? I've looked at libqrb5165-io and there doesn't seem to be anything for that. There's functions for accessing slpi UARTs, but only one port at a time?

Thanks

@modaltb As far as I can tell, I'm building a perf kernel. These are my changes:

MODAL_REPO_BRANCH=v1.8.02 in bin/qrb5165-common.sh

I've added the following lines to ./lu.um.1.2.1/apps_proc/poky/meta-voxl2-bsp/recipes-kernel/linux-msm/files/fragments/m005x.cfg:

CONFIG_MACVLAN=y
CONFIG_VLAN_8021Q=y

And then building:

./qrb5165-build.sh -m M0054

@Alex-Kushleyev Thanks for the info. For now, we're going to swap the sensor for one with the filter to see how it performs. I'll be updating results here

@Alex-Kushleyev To be sure, I cleaned the workspace and rebuilt the docker image as well. I re-synced, ensuring that the tag for the repos is v1.8.02. My voxl is also on SDK 1.4

Is this behaviour reproducible?

@Alex-Kushleyev I've tried the other driver, and the result looks largely the same. It's a bit brighter. (Cropped for file size)
My sensor indeed doesn't have the IR filter.

Hi, I have a single IMX412 connected to M0173 J5 on a VOXL2.

com.qti.sensormodule.imx412_fpv_2.bin is the only sensormodule file I have in /usr/lib/camera.

This is my camera server config file:

/**
 * 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":	true,
	"fsync_gpio":	109,
	"cameras":	[{
			"type":	"imx412",
			"name":	"hires_front",
			"enabled":	true,
			"camera_id":	0,
			"fps":	30,
			"en_preview":	false,
			"preview_width":	640,
			"preview_height":	480,
			"en_raw_preview":	false,
			"en_small_video":	true,
			"small_video_width":	640,
			"small_video_height":	480,
			"small_venc_mode":	"h265",
			"small_venc_br_ctrl":	"cqp",
			"small_venc_Qfixed":	30,
			"small_venc_Qmin":	15,
			"small_venc_Qmax":	40,
			"small_venc_nPframes":	9,
			"small_venc_mbps":	2,
			"en_large_video":	false,
			"large_video_width":	4056,
			"large_video_height":	3040,
			"large_venc_mode":	"h265",
			"large_venc_br_ctrl":	"cqp",
			"large_venc_Qfixed":	38,
			"large_venc_Qmin":	15,
			"large_venc_Qmax":	50,
			"large_venc_nPframes":	29,
			"large_venc_mbps":	30,
			"en_snapshot":	false,
			"en_snapshot_width":	4056,
			"en_snapshot_height":	3040,
			"exif_focal_length":	3.0999999046325684,
			"exif_focal_length_in_35mm_format":	17,
			"exif_fnumber":	1.2400000095367432,
			"ae_mode":	"isp"
		}]
}

The issue I'm having has to do with the colour of the video. Indoors, the image looks fine but outdoors, there's a red tint that I can't seem to get rid of. I'm using isp currently, but I've also played around with lme_msv, to not much improvement. Is this behaviour normal?

@tom There's a couple, which I'm guessing have to do with all those modules not getting loaded anymore:

• eth0 no longer shows up in ifconfig
• voxl-configure-cameras returns cat: /sys/module/voxl_platform_mod/parameters/config: No such file or directory

There may be more, but I haven't dug too deep into finding all the effects

Hello, has 8021q vlan been tested on the VOXL2 before? I'm building the module for 1.8.02 for SDK 1.4 by enabling CONFIG_VLAN_8021Q, but it's causing some issues.

Below is the output from lsmod before and after enabling the module:

voxl2:/$ lsmod
Module                  Size  Used by
voxl_platform_mod      16384  0
voxl_gpio_mod          16384  0
voxl_fsync_mod         16384  0
machine_dlkm          159744  0
wcd938x_slave_dlkm     16384  0
wcd938x_dlkm          110592  1 machine_dlkm
wcd9xxx_dlkm           49152  1 wcd938x_dlkm
mbhc_dlkm              45056  1 wcd938x_dlkm
tx_macro_dlkm         106496  0
rx_macro_dlkm         102400  0
va_macro_dlkm          98304  0
wsa_macro_dlkm         69632  1 machine_dlkm
swr_ctrl_dlkm          57344  4 wsa_macro_dlkm,tx_macro_dlkm,rx_macro_dlkm,va_macro_dlkm
bolero_cdc_dlkm        57344  5 machine_dlkm,wsa_macro_dlkm,tx_macro_dlkm,rx_macro_dlkm,va_macro_dlkm
wsa881x_dlkm           45056  1 machine_dlkm
wcd_core_dlkm          32768  7 wsa881x_dlkm,machine_dlkm,wsa_macro_dlkm,tx_macro_dlkm,rx_macro_dlkm,va_macro_dlkm,wcd938x_dlkm
stub_dlkm              16384  0
hdmi_dlkm              24576  0
swr_dlkm               24576  4 wsa881x_dlkm,wcd938x_dlkm,swr_ctrl_dlkm,wcd938x_slave_dlkm
pinctrl_lpi_dlkm       20480  0
pinctrl_wcd_dlkm       16384  0
usf_dlkm               57344  0
native_dlkm           163840  0
platform_dlkm        2195456  1 native_dlkm
q6_dlkm               909312  9 bolero_cdc_dlkm,machine_dlkm,pinctrl_lpi_dlkm,usf_dlkm,va_macro_dlkm,swr_ctrl_dlkm,wcd9xxx_dlkm,native_dlkm,platform_dlkm
adsp_loader_dlkm       16384  0
apr_dlkm              229376  4 q6_dlkm,usf_dlkm,adsp_loader_dlkm,platform_dlkm
snd_event_dlkm         16384  5 bolero_cdc_dlkm,machine_dlkm,q6_dlkm,pinctrl_lpi_dlkm,apr_dlkm
q6_notifier_dlkm       16384  3 q6_dlkm,pinctrl_lpi_dlkm,apr_dlkm
q6_pdr_dlkm            16384  1 q6_notifier_dlkm
88XXau               2342912  0
8821cu               2465792  0
8188eu               1200128  0

voxl2:/$ lsmod
Module                  Size  Used by
stub_dlkm              16384  0
q6_notifier_dlkm       16384  0
q6_pdr_dlkm            16384  1 q6_notifier_dlkm

The cause of this can be found using dmesg, where an example line is shown below. A multitude of other modules are showing similar errors with other symbols like _dev_err

[    4.764189] voxl_gpio_mod: disagrees about version of symbol device_create
[    4.764192] voxl_gpio_mod: Unknown symbol device_create (err -22)

However, running dmesg | grep VLAN gives:

voxl2:/$ dmesg | grep VLAN
[    1.954223] 8021q: 802.1Q VLAN Support v1.8
[    5.013433] 8021q: adding VLAN 0 to HW filter on device bond0

Hello, I'm trying to use LAN7800 with a VOXL2. I'm on SDK 1.4 with an EVB-LAN7800LC-1 evaluation board.

I've seen that the lan78xx driver requires Linux kernel 4.3+ but even though the VOXL is on 4.19.125, it looks like there's support for lan78xx?

I've confirmed that the adapter works on my Windows laptop, but the following is what happens when I connect it to the VOXL2 on the M0151's port

voxl2:/$ dmesg | grep lan78
[    1.869189] usbcore: registered new interface driver lan78xx
[    3.326980] libphy: lan78xx-mdiobus: probed
[    4.342277] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[    4.342307] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[    4.342340] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[    4.342365] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[    4.342462] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[    4.342487] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[    4.342520] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[    4.869096] libphy: lan78xx-mdiobus: probed
[   12.810643] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   12.810685] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   12.810735] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   12.810772] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   12.810881] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   12.810931] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   12.810966] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   12.811009] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   13.329593] libphy: lan78xx-mdiobus: probed
[   27.122628] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   27.122673] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   27.122727] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   27.122818] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   27.123017] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   27.123056] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   27.123108] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   27.657519] libphy: lan78xx-mdiobus: probed
[   28.098415] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   28.098467] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   28.098525] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   28.098569] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   28.098727] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   28.098770] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   28.098827] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   28.610233] libphy: lan78xx-mdiobus: probed
[   30.898654] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   30.898721] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   30.898781] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   30.898821] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   30.898994] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   30.899056] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   30.899097] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   30.899146] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   31.412477] libphy: lan78xx-mdiobus: probed
[   32.814550] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   32.814604] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   32.814662] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   32.814832] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   32.814989] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   32.815030] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   32.815088] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   33.326810] libphy: lan78xx-mdiobus: probed
[   33.476910] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000424. ret = -71
[   33.477263] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000420. ret = -71
.
.
.
[   42.338752] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   42.339081] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   42.339126] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   42.339185] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   42.863468] libphy: lan78xx-mdiobus: probed
[   44.298561] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   44.298614] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   44.298674] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   44.298720] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   44.298867] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   44.298911] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   44.298966] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   44.813080] libphy: lan78xx-mdiobus: probed
[   45.258417] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   45.258469] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   45.258651] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   45.258697] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   45.258842] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   45.258886] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   45.258942] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   45.774138] libphy: lan78xx-mdiobus: probed
[   46.226421] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   46.226472] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   46.226529] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   46.226572] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   46.226716] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   46.226759] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   46.226814] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   46.741781] libphy: lan78xx-mdiobus: probed
[   50.346684] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   50.346739] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   50.346801] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   50.346847] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   50.346991] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   50.347061] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000098. ret = -19
[   50.347107] lan78xx 2-1:1.0 eth0: Failed to write register index 0x00000098. ret = -19
[   50.347164] lan78xx 2-1:1.0 eth0: Failed to read register index 0x00000120. ret = -19
[   50.607172] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000098. ret = -71
[   50.607688] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000098. ret = -71
[   50.608208] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.608668] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to write register index 0x00000010. ret = -71
[   50.610775] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.612909] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.615291] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.617395] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.619530] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.621638] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.624239] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.626414] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.628507] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.630636] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.632776] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.635169] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.637805] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.639887] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.642301] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.644417] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.646512] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.648658] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.650747] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.653185] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.655546] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.657652] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   50.659752] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
.
.
.
[   51.611757] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   51.614032] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Failed to read register index 0x00000010. ret = -71
[   51.614038] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): timeout on completion of LiteReset
[   51.614043] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Registers INIT FAILED....
[   51.614089] lan78xx 2-1:1.0 (unnamed net_device) (uninitialized): Bind routine FAILED
[   51.615072] lan78xx: probe of 2-1:1.0 failed with error -5

@Alex-Kushleyev This looks pretty good, thanks!

If I'm understanding correctly, with one M0159, one M0181, and one M0155, I'd be able to connect all three sensors (OV64, boson, M0161) on a VOXL2/VOXL2 mini?

If that's the case, I'd be interested in experimenting with that setup. What would the process for getting these boards look like?

For the connection between the boards, what's the longest length coax I could get or use reliably?

@Alex-Kushleyev I appreciate the detailed response!

We'd be open to experimenting with some of this hardware. Is a picture of the M0159 (not schematics) something we could get?

As for an initial use case:

• OV64B: 30fps, 720p/1080p
• Boson: 30fps, 640x512, MIPI
• M0161 IMX412: This is what's currently interfaced with the M0173. What would it take to include this in the setup?

@Alex-Kushleyev I don't have the hadron itself on hand at the moment. I'm just doing some preliminary reading and planning for when we do get it.

We have a G-Hadron gimbal and accompanying G-Hadron RB5 adapter, which together will expose the boson through USB and the OV64B through MIPI.

Do you have a link to the M0159? I haven't been able to find it. If possible, I'd rather not connect the boson over USB.

@Alex-Kushleyev

I'm using a Hadron 640R with a VOXL2 (for now, but we plan on switching to a VOXL2 mini eventually). I also have a M0173 adapter board.

So far, I've only done some calcs for 35mm focal length:
With f = 4.8mm and D = 8.15mm, I get 35FL = 25.48mm
To make it an int, f = 4.75 and D = 8.2 is an option.

Hello, I'm seeing in the documentation and in the code that ov64b sensors are supported by SDK 1.4. I've confirmed that the bins exist in chi-cdk.

However, I'm not seeing any information/documentation on camera configs nor any default camera-server configs in the source code for this sensor.

How do I go about using it with voxl-camera-server.conf?

@Alex-Kushleyev Thanks, everything looks alright now that I've removed the other cameras from the config file