@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!

Hi! I'm trying to set up DFS using ar0144 cameras. I have the voxl-camera-server side working, and I'm able to view the stereo preview stream on voxl-portal. I've set up my extrinsics and intrinsics using voxl-calibrate-cameras and have acceptable reprojection error.
However, when I run voxl-dfs-server I get these errors:

ERROR computing undistort on left image in mcv_cvp_undistort_and_dfs_process
ERROR performing undistort+DFS pipeline
ERROR computing UD+DFS pipeline on CVP

Whether I enable or disable cvp rectification in the .conf file, I am facing errors. Let me know how I might be able to resolve this, thanks!

@Eric-Katzfey Thanks for helping me out with this! I've made some progress at narrowing in on the problem. First to answer your questions:

• QVIO: I tried with voxl-qvio-server disabled, this didn't change anything.
• VIO failed state: I fixed some other issues leading to the failed state from voxl-open-vins-server. Now the ovins translation and rotation outputs look healthy, and time_usec increments normally, but the external autopilot still does not log the odometry output.
• Debug: VIO status debug shows that it isn't failing.

I was able to get qvio odometry outputs to log on the external autopilot, but when I switched over to ovins, it fails. With ovins I still see incoming VIO (comp IP 197) heartbeat and timestamp mavlink messages going through, but not the 331 odometry message.

Let me know what you think, thanks so much!

@Eric-Katzfey @tom

Here's the output of voxl-version:

voxl2-mini:~$ voxl-version
--------------------------------------------------------------------------------
system-image: 1.8.02-M0104-14.1a-perf
kernel:       #1 SMP PREEMPT Mon Nov 11 23:21:25 UTC 2024 4.19.125
--------------------------------------------------------------------------------
hw platform:  M0104
mach.var:     2.0.0
--------------------------------------------------------------------------------
voxl-suite:   1.4.0
--------------------------------------------------------------------------------
Packages:
Repo:  http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-1.4/binary-arm64/
Last Updated: 2025-03-12 18:51:42
WARNING: repo file has changed since last update,
        packages may have originated from a different repo
List:
kernel-module-voxl-fsync-mod-4.19.125     1.0-r0
kernel-module-voxl-gpio-mod-4.19.125      1.0-r0
kernel-module-voxl-platform-mod-4.19.125  1.0-r0
libfc-sensor                              1.0.7
libmodal-cv                               0.5.16
libmodal-exposure                         0.1.3
libmodal-journal                          0.2.2
libmodal-json                             0.4.3
libmodal-pipe                             2.10.4
libqrb5165-io                             0.4.7
libvoxl-cci-direct                        0.2.3
libvoxl-cutils                            0.1.1
modalai-slpi                              1.1.19
mv-voxl                                   0.1-r0
qrb5165-bind                              0.1-r0
qrb5165-dfs-server                        0.2.0
qrb5165-imu-server                        1.1.0
qrb5165-rangefinder-server                0.1.4
qrb5165-slpi-test-sig                     01-r0
qrb5165-system-tweaks                     0.3.2
qrb5165-tflite                            2.8.0-2
voxl-bind-spektrum                        0.1.1
voxl-camera-calibration                   0.5.9
voxl-camera-server                        2.0.2
voxl-ceres-solver                         2:1.14.0-10
voxl-configurator                         0.9.4
voxl-cpu-monitor                          0.5.1
voxl-docker-support                       1.3.1
voxl-elrs                                 0.3.4
voxl-esc                                  1.4.8
voxl-feature-tracker                      0.5.2
voxl-flow-server                          0.3.6
voxl-fsync-mod                            1.0-r0
voxl-gimbal                               0.0.1
voxl-gphoto2-server                       0.0.10
voxl-gpio-mod                             1.0-r0
voxl-io-server                            0.0.4
voxl-jpeg-turbo                           2.1.3-5
voxl-lepton-server                        1.3.3
voxl-lepton-tracker                       0.0.4
voxl-libgphoto2                           0.0.4
voxl-libuvc                               1.0.7
voxl-logger                               0.4.9
voxl-mavcam-manager                       0.5.7
voxl-mavlink                              0.1.1
voxl-mavlink-server                       1.4.4
voxl-modem                                1.1.3
voxl-mongoose                             7.7.0-1
voxl-mpa-to-ros                           0.3.9
voxl-mpa-tools                            1.3.4
voxl-open-vins                            0.4.14
voxl-open-vins-server                     0.2.83
voxl-opencv                               4.5.5-2
voxl-osd                                  0.0.2
voxl-platform-mod                         1.0-r0
voxl-portal                               0.7.2
voxl-px4                                  1.14.0-2.0.93
voxl-px4-imu-server                       0.1.2
voxl-px4-params                           0.5.8
voxl-qvio-server                          1.1.1
voxl-remote-id                            0.0.9
voxl-reset-slpi                           0.0.1
voxl-state-estimator                      0.0.3
voxl-streamer                             0.7.5
voxl-suite                                1.4.0
voxl-tag-detector                         0.0.4
voxl-tflite-server                        0.3.7
voxl-utils                                1.4.4
voxl-uvc-server                           0.1.7
voxl-vision-hub                           1.8.18
voxl-vtx                                  1.1.3
voxl2-io                                  0.0.3
voxl2-system-image                        1.8.02-r0
voxl2-wlan                                1.0-r0
--------------------------------------------------------------------------------

@tom I have some updates, and here's more info on my setup!

voxl-open-vins-server is running and outputting the following:

voxl-vision-hub and voxl-mavlink-server are running, and the odom messages are being sent. Here's the output from voxl-mavlink-server -l:

At my external autopilot, the Odometry messages are coming through, but the values are not populating/reading correctly:

Thanks in advance for any input you may have!