@Alex-Kushleyev Hii, Kindly look at the hardware configuration .
I am only able to detect 2 cameras out of 4 cameras .
Hires and one out of 2 tracking are not detected.

@James-Strawson Hii , I am also getting the same issue . Kindly look at the following details . I have defined tof in my extrinsics.conf file as given below:
parent: body
child: tof
T_child_wrt_parent: 0.070 0.024 -0.029
RPY_parent_to_child: 0.0 90.0 90.0
R_child_to_parent: 0.000 -0.000 1.000
1.000 0.000 -0.000
-0.000 1.000 0.000
when i run voxl-vision-hub -s i got the following
slice 0 dist none back
slice 1 dist none
slice 2 dist none
slice 3 dist none
slice 4 dist none
slice 5 dist none
slice 6 dist none
slice 7 dist none
slice 8 dist none
slice 9 dist none left
slice 10 dist none
slice 11 dist none
slice 12 dist none
slice 13 dist none
slice 14 dist none
slice 15 dist none
slice 16 dist none
slice 17 dist none
slice 18 dist none forward
slice 19 dist none
slice 20 dist none
slice 21 dist none
slice 22 dist none
slice 23 dist none
slice 24 dist none
slice 25 dist none
slice 26 dist none
slice 27 dist none right
slice 28 dist none
and in my vision-hub-conf file i have the folloeing set up:
"en_vio": true,
"vio_pipe": "qvio",
"secondary_vio_pipe": "ov",
"vfc_vio_pipe": "ov",
"en_reset_vio_if_initialized_inverted": true,
"vio_warmup_s": 3,
"send_odom_while_failed": true,
"horizon_cal_tolerance": 0.5,
"en_hitl": false,
"offboard_mode": "figure_eight",
"follow_tag_id": 0,
"figure_eight_move_home": true,
"robot_radius": 0.300000011920929,
"collision_sampling_dt": 0.1,
"max_lookahead_distance": 1,
"backtrack_seconds": 60,
"backtrack_rc_chan": 8,
"backtrack_rc_thresh": 1500,
"wps_move_home": true,
"wps_stride": 0,
"wps_timeout": 0,
"wps_damp": 1,
"wps_vfc_mission": true,
"wps_vfc_mission_loop": false,
"wps_vfc_mission_to_ramp": 25,
"wps_vfc_mission_to_kp": 0.10000000149011612,
"wps_vfc_mission_cruise_speed": 1,
"en_tag_fixed_frame": false,
"fixed_frame_filter_len": 5,
"en_transform_mavlink_pos_setpoints_from_fixed_frame": false,
"vfc_rate": 100,
"vfc_rc_chan_min": 980,
"vfc_rc_chan_max": 2020,
"vfc_thrust_ch": 3,
"vfc_roll_ch": 1,
"vfc_pitch_ch": 2,
"vfc_yaw_ch": 4,
"vfc_submode_ch": 6,
"vfc_alt_mode_rc_min": 0,
"vfc_alt_mode_rc_max": 0,
"vfc_flow_mode_rc_min": 0,
"vfc_flow_mode_rc_max": 0,
"vfc_hybrid_flow_mode_rc_min": 0,
"vfc_hybrid_flow_mode_rc_max": 0,
"vfc_position_mode_rc_min": 0,
"vfc_position_mode_rc_max": 2100,
"vfc_traj_mode_rc_min": 0,
"vfc_traj_mode_rc_max": 0,
"vfc_yaw_deadband": 30,
"vfc_vxy_deadband": 50,
"vfc_vz_deadband": 150,
"vfc_min_thrust": 0,
"vfc_max_thrust": 0.800000011920929,
"vfc_tilt_max": 0.43599998950958252,
"vfc_yaw_rate_max": 3,
"vfc_thrust_hover": 0.5,
"vfc_vz_max": 1,
"vfc_kp_z": 5.2899999618530273,
"vfc_kd_z": 5.9800000190734863,
"vfc_vxy_max": 3,
"vfc_kp_xy": 0.63999998569488525,
"vfc_kd_xy": 2.559999942779541,
"vfc_kp_z_vio": 5.2899999618530273,
"vfc_kd_z_vio": 5.9800000190734863,
"vfc_kp_xy_vio": 3.2400000095367432,
"vfc_kd_xy_vio": 3.9600000381469727,
"vfc_w_filt_xy_vio": 10,
"vfc_w_filt_xy_flow": 3,
"vfc_vel_ff_factor_vio": 0.899999976158142,
"vfc_xy_acc_limit_vio": 2.5,
"vfc_max_z_delta": 3,
"vfc_att_transition_time": 0.5,
"vfc_stick_move_threshold": 30,
"vfc_flow_transition_time": 1,
"vfc_q_min": 10,
"vfc_points_min": 7,
"vfc_en_submode_announcement": 1,
"vfc_disable_fallback": false,
"vfc_traj_csv": "/data/voxl-vision-hub/traj.csv",
"en_voa": true,
"voa_upper_bound_m": -0.15000000596046448,
"voa_lower_bound_m": 0.15000000596046448,
"voa_memory_s": 1,
"voa_max_pc_per_fusion": 100,
"voa_pie_max_dist_m": 20,
"voa_pie_min_dist_m": 0.25,
"voa_pie_under_trim_m": 1,
"voa_pie_threshold": 3,
"voa_send_rate_hz": 20,
"voa_pie_slices": 36,
"voa_pie_bin_depth_m": 0.15000000596046448,
"voa_inputs": [{
"enabled": false,
"type": "point_cloud",
"input_pipe": "dfs_point_cloud",
"frame": "stereo_l",
"max_depth": 8,
"min_depth": 0.300000011920929,
"cell_size": 0.079999998211860657,
"threshold": 4,
"x_fov_deg": 68,
"y_fov_deg": 56,
"conf_cutoff": 0
}, {
"enabled": false,
"type": "point_cloud",
"input_pipe": "stereo_front_pc",
"frame": "stereo_front_l",
"max_depth": 8,
"min_depth": 0.300000011920929,
"cell_size": 0.079999998211860657,
"threshold": 4,
"x_fov_deg": 68,
"y_fov_deg": 56,
"conf_cutoff": 0
}, {
"enabled": false,
"type": "point_cloud",
"input_pipe": "stereo_rear_pc",
"frame": "stereo_rear_l",
"max_depth": 8,
"min_depth": 0.300000011920929,
"cell_size": 0.079999998211860657,
"threshold": 4,
"x_fov_deg": 68,
"y_fov_deg": 56,
"conf_cutoff": 0
}, {
"enabled": true,
"type": "tof",
"input_pipe": "tof",
"frame": "tof",
"max_depth": 6,
"min_depth": 0.15000000596046448,
"cell_size": 0.079999998211860657,
"threshold": 3,
"x_fov_deg": 106.5,
"y_fov_deg": 85.0999984741211,
"conf_cutoff": 125
}, {
"enabled": false,
"type": "rangefinder",
"input_pipe": "rangefinders",
"frame": "body",
"max_depth": 8,
"min_depth": 0.300000011920929,
"cell_size": 0.079999998211860657,
"threshold": 4,
"x_fov_deg": 68,
"y_fov_deg": 56,
"conf_cutoff": 0
}],
"voa_voa_memory_s": 1
}

@Sarika-Sharma and I also wanna tell you my goal i.e. stable indoor flight without GPS

Hello @Alex-Kushleyev
Thank you for getting back to me.

Yes, I already have the above cameras.I am attaching image of the PMD TOF image sensor along with the adapters that were included, so you can confirm exactly which configuration I have.

I would also be very open to your suggestions regarding updates or improvements to the camera selection. Please feel free to recommend better options based on your experience.

Looking forward to your guidance.

Hello Team, I’m working with a VOXL2 Mini and would like guidance on the correct hardware configuration (cables and ports) for the following camera setup:

Cameras

1. 2× M0014 (OV7251 tracking cameras)

2. 1× M0169 (PMD ToF camera)

3. 1× M0024 (IMX214 high-resolution camera)

Available accessories

1. M0084 flex cables

2. M0135 interface board

Could you please confirm the correct physical connection / port mapping for this setup on VOXL2 Mini?

@Sarika-Sharma Now TOF is detected. I have choosed pmd-tof instead of pmd-tof-liow2.
But please give solution for the following problem.
When I used J7 according to the following configuration
Hardware Setup
M0104 Connector Interposer Sensor HW ID
J7 M0135 JL Tracking (M0014 ) 2
J7 M0135 JU Hires (M0025-2 ) 3
OR
J7 M0135 JL Hires (M0025-2 ) 2
J7 M0135 JU Tracking (M0014 ) 3

ONLY , The camera which is connected to JL is working either tracking or hires.
Cameras connected to JU is not working.
When i run voxl-camera-server it gives this
WARNING: cam tracking (id 1) does not seem to be alive

------ voxl-camera-server: Started 1 of 2 cameras

------ voxl-camera-server: Camera server is now running
OR
When i run voxl-camera-server it gives this
WARNING: cam hires (id 1) does not seem to be alive

------ voxl-camera-server: Started 1 of 2 cameras

------ voxl-camera-server: Camera server is now running/home/idr/Downloads/WhatsApp Image 2025-12-26 at 5.31.01 PM.jpeg

@Alex-Kushleyev @Luca-Zanatta I am also facing the same issue, can you please tell how to solve resolution problem.
I have tried to manually add preview width and preview height in vim /etc/modalai/voxl-camera-server.conf But when i run voxl-camera-server it still gives previous resolution 240*1557 and hence pmd-tof is not detected.

@Sarika-Sharma Kindly resolve this issue also https://forum.modalai.com/topic/4952/pmd-tof-not-detected-on-voxl2?_=1766730439331.

@Eric-Katzfey Thank you.

Hello ModalAI Team,

I am working with VOXL2 / VOXL2 Mini and PMD ToF V2 (M0169), and I am facing an issue where the PMD ToF camera is not detected/started by voxl-camera-server.

System details

Platform: VOXL2

System Image: 1.7.4

PMD Module: M0169 (PMD ToF)

Use case: Tracking + ToF + HiRes

Hardware connection (Option 1)
VOXL2 → M0076 → M0074 extender → M0169 (external regulated 5V supplied) → ToF

External 5V is provided to M0169.

Camera configuration

Cameras enabled: PMD ToF + IMX214 (HiRes) + OV7251 (Tracking)

IMX214 and OV7251 start correctly, but not pmd-tof

kindly look at the screenshots.
/home/idr/Pictures/Screenshots/Screenshot from 2025-12-25 17-40-44.png
/home/idr/Pictures/Screenshots/Screenshot from 2025-12-25 17-40-54.png
/home/idr/Pictures/Screenshots/Screenshot from 2025-12-25 17-41-05.png

/home/idr/Downloads/WhatsApp Image 2025-12-25 at 6.00.04 PM.jpeg