@Alex-Kushleyev yes, that's correct!

@Alex-Kushleyev I'm building from the eis branch not the official release. Thanks!

(Note: The images I included in my post are labeled backwards. first image is "eis_mode": "horizon-level" and the second image is "eis_mode": "full-follow")

Hi! I'm noticing some difference in functionality when I switch eis_mode from horizon-level to full-follow.

I built voxl-camera-server off the eis branch and followed the instructions. everything seems to be working correctly including stabilization other than the final output rotation that I am looking for.

My imu_apps to hires extrinsics are set up correctly and I want to apply this additional transform to the output:

 {
        "parent": "hires",
        "child":  "hires_eis",
        "T_child_wrt_parent": [0.066, 0.009, -0.012],
        "RPY_parent_to_child":    [0, 0, -90]
    }

I'm noticing that if I set "eis_mode": "full-follow" the transform isnt applied but if i set "eis_mode": "horizon-level" it rotates the output window as expected. Here's what I see on voxl-portal when I switch eis_mode and leave the extrinsics file untouched.

"eis_mode": "full-follow":

"eis_mode": "horizon-level":

Hoping to find a way to get the output rotation working in full-follow mode. Thanks!

I’m having trouble recovering a couple voxl2 minis (M0104). Here’s what I observed and tried so far:

1. The minis were working normally on a reliable power supply.
2. Minor issues occurred (in one case voxl-camera-server segfaulted, in another I tried a custom binary). This may not be relevant.
3. Units continued to boot normally for 3–4 power cycles.
4. On the 4th or 5th restart, they stopped booting:
   • LEDs show D1 + DS2 solid immediately.
   • Sometimes they briefly show D1 + D2 solid before going back to D1 + DS2.
   • Tried adb in those rare instances where D1 + D2 were on, didn't work
5. Tried powering with nothing connected, same result.
6. Tried unbricking procedure:
   • Board recognized as a QDL device (web UI and lsusb both show the QDL device).
   • Attempting “Flash Flat Build” with VOXL2 QDL Image 14.1a_1.7.8 always times out.
   • I couldn’t find a voxl2 mini specific flat build, and in the latest voxl2 mini SDK there's no ufs directory as described here

My questions:

• Is there a separate QDL flat build for the voxl2 mini (M0104), or should the standard voxl 2 flat builds work?
• Since I’d prefer to recover data if possible, is there any way to get the board into fastboot or ADB without reflashing?
• Does the LED pattern (D1+DS2 solid, sometimes briefly D1+D2) indicate anything specific about the boot state?

Any help would be greatly appreciated, thank you!

@Alex-Kushleyev The drivers worked, and the EIS as expected isn't tuned well. The MISP brightness looks alright outdoors, but indoors its very low. Increasing exposure_max_us helps but adds blur. Not sure if that's to be expected with this sensor, since it isn't as good in low-light conditions as the IMX412. Let me know if there's anything I can tune in the conf file to help with the brightness, and EIS output. Thanks!

@Alex-Kushleyev This worked! Thank you

@Alex-Kushleyev I have 3 cameras connected in total. The earlier camera server output was for just the stereo pair.

Cam ID 0 connected at port J0 - AR0144
Cam ID 1 connected at port J1 - IMX412
Cam ID 2 connected at port J6 - AR0144

I have experimented with using all of the ar0144 combo drivers, currently I have com.qti.sensormodule.ar0144_fsin_combo_0 and com.qti.sensormodule.ar0144_fsin_combo_6.

Using these drivers, the video streams appear normal when voxl-camera-server is configured to have the 2 AR0144 cameras stream separately instead of as a stereo pair.

When I run voxl-camera-server -l, it recognizes 3 cameras connected. I'll update with the exact output soon.

Hi @Alex-Kushleyev! I am trying to get my stereo AR0144 cam setup working. I originally had AR0144 stereo+DFS working with the flex sensor cameras, but after shifting to M0188 + microcoax cameras I haven't been able to accomplish the same.

Currently I have 2 AR0144 microcoax cams connected to port J0 and J6 of the M0188 board. When I configure the cameras and run voxl-camera-server, I see two separate video outputs from stereo (1280x800) and stereo_child (1280x800) respectively. Then, when I go into voxl-camera-server.conf and adjust it to stereo mode by adding camera_second_id, I see the new stereo output (1280x1600) but video is either empty or all dark. I have all the necessary intrinsics and extrinsics files that worked previously with the flex connector cameras. Let me know if I'm missing anything, and how I can try to get this working. Thanks!

I'm using voxl-camera-server version: 2.2.6-202508142059
Here's the output when I run voxl-camera-server:

Setting MISP AWB to Auto
MISP channels enabled in defaults : 0
MISP channels enabled in config file: 0
=================================================================
configuration for 1 cameras:

cam #0
    name:                stereo
    type:                ar0144
    bayer_type:          0
    enabled:             1
    camera_id:           0
    camera_id_second:    2
    fps:                 30
    en_rotate:           0
    en_rotate2:          0

    en_preview:          1
    en_raw_preview:      1
    preview_width:       1280
    preview_height:      800

    en_misp:             1
    misp_width:          1280
    misp_height:         800

    en_small_video:      0
    small_video_width:   -1
    small_video_height:  -1

    en_large_video:      0
    large_video_width:   -1
    large_video_height:  -1

    en_snapshot:         0
    snap_width:          -1
    snap_height:         -1
    exif_focal_length:   0.000000
    exif_focal_len_35mm_format:0
    exif_fnumber:        0.000000

    ae_mode:             lme_msv
    msv_exposure_min_us: 20
    msv_exposure_max_us: 12000
    gain_min           : 54
    gain_max           : 8000
    standby_enabled:     0
    decimator:           1
    independent_exposure:0

fsync_en:            1
fsync_gpio:          109
=================================================================
thread is locked to cores: 4 5 6 7
connected to mavlink pipe
Connected to cpu-monitor
Starting Camera: stereo (id #0)
Opened GBM fd
gbm_create_device(156): Info: backend name is: msm_drm
Created GBM device
MISP Initializing for camera stereo
 Detected 1 platform(s)
 Detected 1 GPU device(s)
Estimated imu dt = 0.000978s
Got unsupported format in getUVStartFromFmt, returning nullptr
WARNING: OMX SetTargetBitrate: H265 CBR requires bps >= 3.0Mbit (2000000 bps provided). Using FPS hack. scale = 1.500000
Loading intrinsics cal file stereo_intrinsics.yml for camera stereo, ret 0
stereo lens calibration (fisheye):
        w: 1280, h:800
        fx: 563.677, fy: 562.169
        cx: 663.707, cy: 390.645
        D: -0.062035, 0.065024, -0.041547, 0.008022, 0.000000
Loading extrinsics for camera stereo, ret 0
Extrinsics:
         0.0000 1.0000 0.0000
         -0.0000 0.0000 1.0000
         1.0000 -0.0000 0.0000
Loading EIS output extrinsics for camera stereo, fetch ret 0
EIS Extrinsics:
         1.0000 -0.0000 0.0000
         0.0000 1.0000 -0.0000
         0.0000 0.0000 1.0000
MISP Initializing for camera stereo_child
Got unsupported format in getUVStartFromFmt, returning nullptr
WARNING: OMX SetTargetBitrate: H265 CBR requires bps >= 3.0Mbit (2000000 bps provided). Using FPS hack. scale = 1.500000
Loading intrinsics cal file stereo_child_intrinsics.yml for camera stereo_child, ret 0
stereo_child lens calibration (fisheye):
        w: 1280, h:800
        fx: 563.677, fy: 562.169
        cx: 663.707, cy: 390.645
        D: -0.062035, 0.065024, -0.041547, 0.008022, 0.000000
Loading extrinsics for camera stereo_child, ret 0
Extrinsics:
         0.0000 -1.0000 0.0000
         0.0000 0.0000 1.0000
         -1.0000 -0.0000 0.0000
Loading EIS output extrinsics for camera stereo_child, fetch ret 0
EIS Extrinsics:
         1.0000 -0.0000 0.0000
         0.0000 1.0000 -0.0000
         0.0000 0.0000 1.0000

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

------ voxl-camera-server: Camera server is now running

Hi @Alex-Kushleyev! Where can I find the IMX214 drivers for EIS? Thanks!

Is there a board available that is similar to the VOXL 2 Mini Dual High-res and Boson MIPI Adapter (MCCA-M0194-1) for tracking cameras?

We are looking to connect 2 M0166 cameras to a VOXL 2 Mini as a synced stereo pair without using the M0173 board. Thanks!