ModalAI Forum

@Alex-Kushleyev

Yeah so our engineering capstone project is to in some way integrate target detection into the VSLAM mapping to provide more detailed information inside the mapping. Our client was hoping maybe for the ability to save points or a bounding box on the mapping at certain target points and having the ability to see what they are.

How can VSLAM work without any depth sensor and just a camera? It was my understanding that it needs the depth feedback to create the 3D mapping.

In any case I'll reach out to my client about making that order.

@Alex-Kushleyev any update for this?

@Alex-Kushleyev

Ok, so I swapped the two M0135 boards and found that the lower port on one of the boards (the one originally on J7) does not work. And I still could not get the TOF sensor to work. So technically we could get away with using the broken board on the left side and enabling port 1 in the kernel, but if we are replacing the TOF sensor then it may be easier to just replace a M0135 board. The goal of our capstone project is to work with both VSLAM and target detection, so I believe we will need a working depth sensor for that (correct me if I'm wrong??). As far as using the new TOF module, that's fine with us, however, I'm just unsure about it fitting correctly and the ribbon cable routing so we may need some assistance with that. We can also 3D print a mounting bracket as well.

@Alex-Kushleyev OK, so I've spent some time switching ports around, here's what I've found out. I actually got the tracking camera and imx214 to work each on port 0 and port 3 separately and at the same time. I've never gotten anything to work on port 2, and I have never gotten the TOF sensor to work on any channel. Can certain sensors only work on certain ports? And is port 1 ever used? I also have seen that the m0040 has been EOL so is there a different sensor that I need?

@Alex-Kushleyev can we easily swap the cameras onto the port that the tracking camera is on? We know that port works so verifying that it's the port not the camera would be ideal. What configuration would we need to change to do that?

@Alex-Kushleyev I received this drone for a engineering capstone project, so I have no complete history of the drone, as far as I'm aware the previous person with this drone never got it fly but also never damaged it in any way

@Alex-Kushleyev Yes I've verified that my connections matched this, and I've tried reseatting them as well

@Alex-Kushleyev Is there any way I can see if the cameras are recognized at all to see if the connection is good?

@Alex-Kushleyev

The drone is wired up according to the diagram, could you explain what you mean by the pin1 location?

Here is the output for voxl-camera-server -l

starling (D0005):~$ voxl-camera-server -l
existing instance of voxl-camera-server found, attempting to stop it
DEBUG:   Attempting to open the hal module
DEBUG:   SUCCESS: Camera module opened on attempt 0
DEBUG:   ----------- Number of cameras: 1

DEBUG:   Cam idx: 0, Cam slot: 3, Slave Address: 0x00E2, Sensor Id: 0x7750
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: 1


====================================

Here is the contents of /usr/lib/camera

starling (D0005):~$ ls -l /usr/lib/camera
total 6612
-rwxr-xr-x 1 root root   9912 Oct 22 03:46 com.qti.eeprom.cmk_imx577.so
-rwxr-xr-x 1 root root   9904 Oct 22 03:46 com.qti.sensor.ar0144.so
-rwxr-xr-x 1 root root   5808 Oct 22 03:46 com.qti.sensor.boson.so
-rwxr-xr-x 1 root root   5816 Oct 22 03:46 com.qti.sensor.cmk_imx577.so
-rwxr-xr-x 1 root root   5816 Oct 22 03:46 com.qti.sensor.cmk_imx577_flip.so
-rwxr-xr-x 1 root root   9904 Oct 22 03:46 com.qti.sensor.imx214.so
-rwxr-xr-x 1 root root   9912 Oct 22 03:46 com.qti.sensor.imx214_flip.so
-rwxr-xr-x 1 root root   9904 Oct 22 03:46 com.qti.sensor.imx335.so
-rwxr-xr-x 1 root root   5808 Oct 22 03:46 com.qti.sensor.imx377.so
-rwxr-xr-x 1 root root   9912 Oct 22 03:46 com.qti.sensor.imx412_fpv.so
-rwxr-xr-x 1 root root   9904 Oct 22 03:46 com.qti.sensor.imx664.so
-rwxr-xr-x 1 root root   9904 Oct 22 03:46 com.qti.sensor.imx678.so
-rwxr-xr-x 1 root root   9912 Oct 22 03:46 com.qti.sensor.imx678_flip.so
-rwxr-xr-x 1 root root   9912 Oct 22 03:46 com.qti.sensor.imx678_mod.so
-rwxr-xr-x 1 root root   5808 Oct 22 03:46 com.qti.sensor.irs1645.so
-rwxr-xr-x 1 root root   5808 Oct 22 03:46 com.qti.sensor.irs2975c.so
-rwxr-xr-x 1 root root   9904 Oct 22 03:46 com.qti.sensor.ov64b40.so
-rwxr-xr-x 1 root root   9904 Oct 22 03:46 com.qti.sensor.ov7251.so
-rwxr-xr-x 1 root root   9912 Oct 22 03:46 com.qti.sensor.ov7251_front_left.so
-rwxr-xr-x 1 root root   9920 Oct 22 03:46 com.qti.sensor.ov7251_front_left_flip.so
-rwxr-xr-x 1 root root   9920 Oct 22 03:46 com.qti.sensor.ov7251_front_right.so
-rwxr-xr-x 1 root root   9920 Oct 22 03:46 com.qti.sensor.ov7251_front_right_flip.so
-rwxr-xr-x 1 root root   9912 Oct 22 03:46 com.qti.sensor.ov7251_fsin.so
-rwxr-xr-x 1 root root   9912 Oct 22 03:46 com.qti.sensor.ov7251_fsout.so
-rwxr-xr-x 1 root root   9912 Oct 22 03:46 com.qti.sensor.ov7251_rear_left.so
-rwxr-xr-x 1 root root   9920 Oct 22 03:46 com.qti.sensor.ov7251_rear_left_flip.so
-rwxr-xr-x 1 root root   9912 Oct 22 03:46 com.qti.sensor.ov7251_rear_right.so
-rwxr-xr-x 1 root root   9920 Oct 22 03:46 com.qti.sensor.ov7251_rear_right_flip.so
-rwxr-xr-x 1 root root   9904 Oct 22 03:46 com.qti.sensor.ov9782.so
-rwxr-xr-x 1 root root   9912 Oct 22 03:46 com.qti.sensor.ov9782_front_left.so
-rwxr-xr-x 1 root root   9920 Oct 22 03:46 com.qti.sensor.ov9782_front_left_flip.so
-rwxr-xr-x 1 root root   9920 Oct 22 03:46 com.qti.sensor.ov9782_front_right.so
-rwxr-xr-x 1 root root   9920 Oct 22 03:46 com.qti.sensor.ov9782_front_right_flip.so
-rwxr-xr-x 1 root root   9912 Oct 22 03:46 com.qti.sensor.ov9782_rear_left.so
-rwxr-xr-x 1 root root   9920 Oct 22 03:46 com.qti.sensor.ov9782_rear_left_flip.so
-rwxr-xr-x 1 root root   9912 Oct 22 03:46 com.qti.sensor.ov9782_rear_right.so
-rwxr-xr-x 1 root root   9920 Oct 22 03:46 com.qti.sensor.ov9782_rear_right_flip.so
-rw-r--r-- 1 root root 149272 Feb 10 17:39 com.qti.sensormodule.imx214_2.bin
-rw-r--r-- 1 root root 674736 Feb 10 17:39 com.qti.sensormodule.irs1645_0.bin
-rw-r--r-- 1 root root 142472 Feb 10 17:39 com.qti.sensormodule.ov7251_3.bin
-rw-r--r-- 1 root root 957344 Oct 22 03:46 com.qti.tuned.cmk_imx577.bin
-rw-r--r-- 1 root root 835464 Oct 22 03:46 com.qti.tuned.cmk_ov9282.bin
-rw-r--r-- 1 root root 931864 Oct 22 03:46 com.qti.tuned.default.bin
-rw-r--r-- 1 root root 957344 Oct 22 03:46 com.qti.tuned.imx412_fpv.bin
-rw-r--r-- 1 root root 793816 Oct 22 03:46 com.qti.tuned.ov9782.bin
-rw-r--r-- 1 root root 882376 Oct 22 03:46 com.qti.tuned.sony_imx335.bin
drwxr-xr-x 2 root root   4096 Oct 22 04:04 components
starling (D0005):~$ 

Hi I am working on a starling v2 with the C6 camera configuration and the HiRes and TOF sensor are not being detected by the camera server. I have tried upgrading the SDK to the newest version, and tried multiple times to ensure the correct camera configuration is being used. I have also inspected the physical connections and they also seem to be connected in the correct slot, and the ribbon cables do not look damaged.

system-image: 1.8.06-M0054-14.1a-perf
kernel:       #1 SMP PREEMPT Wed Oct 22 04:21:40 UTC 2025 4.19.125
────────────────────────────────────────────────────────────────────────────────
hw platform:  M0054
mach.var:     1.2.0
SKU:          MRB-D0005-4-V3-C6-T8-M0-X0
────────────────────────────────────────────────────────────────────────────────
voxl-suite:   1.6.3
─────────────────────────────────────────────────────────────────────────────

Here is this error that I am gettiing when running voxl-camera-server

Starting Camera: tof (id #0)
ERROR:   Camera 0 failed to find supported preview config: 224x1557
WARNING: Failed to start cam tof due to invalid resolution
WARNING: assuming cam is missing and trying to compensate
Starting Camera: hires (originally id #1) with id offset: 1
ERROR:   Camera 0 failed to find supported stream config: 1024x768
WARNING: Failed to start cam hires due to invalid resolution
WARNING: assuming cam is missing and trying to compensate
Starting Camera: tracking (originally id #2) with id offset: 2
gbm_create_device(156): Info: backend name is: msm_drm
setting ov7251 BLC register for cam id 0

------ voxl-camera-server: Started 1 of 3 cameras

The error says invalid resolution and invalid preview config, but when I go to disable the preview for TOF and change the Hires resolution in the config at /etc/modal/voxl-camera-server.conf the changes are not used and a default config is used instead.

The correct sensormodules are also present in /usr/lib/camera