@Sem-Andeweg

I don't work for ModalAI but can try to help.

You need to adjust the IMU0, and IMU1 to body RPY at minimum, which stands for Roll, Pitch, Yaw.

If you look at the Seeker example at https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-tools/-/blob/master/misc_files/usr/share/modalai/extrinsic_configs/seeker_v1_voxlcam.conf#L64

you'll see the VOXL is rotated 90 degrees "up" and yawed 90 degrees right. From there the tracking camera is then rotated "down" 45 degrees to account for the VOXL CAM being mounted on the front of the Seeker and its orientation relative to the VOXL inside the camera housing.

Hope this helps a bit, definitely watch the video at https://docs.modalai.com/configure-extrinsics/

Is this a unit direct from ModalAI? If it is, it should be tuned or you could load default parameters from https://gitlab.com/voxl-public/flight-core-px4/px4-parameters/-/tree/master/platforms for your version of PX4 and platform.

Then from there you load a helper through QGroundControl parameters page: https://gitlab.com/voxl-public/flight-core-px4/px4-parameters/-/tree/master/helpers

That should get you close to a decent tune.

If this is a custom drone, you need to configure your extrinsics, calibrate your camera, and validate QVIO first before attempting to fly which it looks like you are attempting to do. The VOXL portal qVIO overlay will show you points selected as well as distance traveled which you can validate against manually moving the drone around prior to any attempts to fly. The camera needs to have areas of contrasting features in view -- so reflective floors or some repetitive patterns can be a challenge for qVIO.

https://docs.modalai.com/configure-extrinsics/

https://docs.modalai.com/calibrate-cameras/

In case anyone else comes on this thread --

https://gitlab.com/voxl-public/voxl-sdk/core-libs/libmodal-pipe/-/blob/master/library/include/modal_pipe_interfaces.h#L848 defines the VIO messages within MPA.

float T_imu_wrt_vio[3]; contains the translation in x, y, z and is what is printed in the overlay within VOXL Portal.

• Positive X = Forward
• Positive Y = Left
• Positive Z = Increase in Altitude

If you then look in the Odometry messages used by PX4 or run voxl-inspect-pose these coordinates will be in FRD/NED frame of reference which is:
Positive X = Forward
Positive Y = Right
Positive Z = Decrease Altitude
(I think I've got this right -- hopefully someone from Modal can confirm)

https://gitlab.com/voxl-public/voxl-sdk/services/voxl-vision-px4/-/blob/master/src/vio_manager.c#L350-393 walks through the publication of the odometry MAVLINK message to PX4 and rotation into appropriate frame for processing.

========
TLDR; Most of my issues for this platform were solved by disabling the QVIO server, keeping voxl-vision-px4 running, and dialing in PID for PX4 without any external inputs from vision or GPS. Once tuned, you can focus on calibrating cameras and etc/modalai/extrinsics.conf to ensure consistency in VIO inputs.

Shoutout to @wilkinsaf for tips and tricks on tuning.

https://gitlab.com/voxl-public/voxl-sdk/services/voxl-portal/-/blob/master/src/video_manager.cpp#L77

Is an example of allocating a buffer and copying the frame into it. There are some other good examples in that file as well for processing frames and converting them to various formats within the callback. Hope that helps!

Extrinsics and QVIO server configuration will determine camera orientation and which IMU to use respectively.

https://docs.modalai.com/configure-extrinsics/

https://gitlab.com/voxl-public/voxl-sdk/services/voxl-qvio-server/-/blob/master/server/config_file.h#L51

You will need to measure from the IMU (Parent) to child (camera) for translation in meters and also the roll, pitch, and yaw in degrees. I recommend watching the video on the configure extrinsics page.

https://docs.modalai.com/setup-ros-on-voxl-2/

May help you with setting up ROS on VOXL2.

https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-to-ros may also help you bridge the Modal Pipe Architecture into ROS.

Late to the party on this -- but I have been able to build ipk's off of an M1 recently.

I followed: https://docs.modalai.com/install-voxl-docker/

And then also downloaded the image from the developer portal as laid out: https://docs.modalai.com/voxl-cross/

To load:
docker load --input voxl-cross_V1.8.tar

To run:
voxl-docker -i voxl-cross:V1.8

Then the docs in all of the Modal repo's work well.

I do have buildkit etc enabled as laid out here: https://medium.com/nerd-for-tech/developing-on-apple-m1-silicon-with-virtual-environments-4f5f0765fd2f but you shouldn't need any of that. Let me know if that helps you. Worked just fine for me -- no special rosetta2 terminal or Docker version.

I'll see if I can contribute something to the docs when I have a moment.

https://forum.modalai.com/topic/1328/camera-servers-docker-build-royale-331-spectre-4-7 may have some answers for you on voxl-camera-server which is something ModalAI is working on WRT the build.

All of the files for the demonstration TF Lite server models live in: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-tflite-server/-/tree/master/misc_files/usr/bin/dnn

On the VOXL itself they reside at: /usr/bin/dnn

You can add your specific model and execute voxl-configure-tflite-server to point to the new model.
https://gitlab.com/voxl-public/voxl-sdk/services/voxl-tflite-server/-/blob/master/src/main.cpp#L238 shows an example with YoloV5.

@Moderator we have tried swapping modules, cameras, and VOXL2(minis)

Generally, it is exacerbated by the extension cables.

What hardware are you using?
VOXL2 Mini. Single IMX678 to isolate issues with ModalAI flex cables without extensions. Same configuration as: https://docs.modalai.com/voxl2-camera-configs/#c-08-hires-only but with IMX678 on a VOXL2 Mini.

What version of software are you using?

	libmodal-cv                 0.4.0-202309221302
	libmodal-exposure           0.1.0-202310231718
	libmodal-journal            0.2.2-202211021731
	libmodal-json               0.4.3-202209281920
	libmodal-pipe               2.10.0-202311162306
	libqrb5165-io               0.4.3-202312061353
	libvoxl-cci-direct          0.2.1-202309211746
	libvoxl-cutils              0.1.1-202210072352
	mv-voxl                     0.1-r0
	qrb5165-bind                0.1-r0
	qrb5165-dfs-server          0.2.0-202309221318
	qrb5165-imu-server          1.0.1-202312010251
	qrb5165-rangefinder-server  0.1.1
	qrb5165-slpi-test-sig       01-r0
	qrb5165-system-tweaks       0.2.3-202310251528
	qrb5165-tflite              2.8.0-2-202210071637
	voxl-bind-spektrum          0.1.0-202306141409
	voxl-camera-calibration     0.5.3-202311291536
	voxl-camera-server          1.8.9
	voxl-capture                0.0.1-202206110121
	voxl-configurator           0.4.8
	voxl-cpu-monitor            0.4.7-202311071555
	voxl-docker-support         1.3.0-202309201525
	voxl-elrs                   0.1.3-202311081047
	voxl-esc                    1.3.7
	voxl-feature-tracker        0.3.3-202312051209
	voxl-flow-server            0.3.4-202312051140
	voxl-gphoto2-server         0.0.10-202210072352
	voxl-jpeg-turbo             2.1.3-5-202311071550
	voxl-lepton-server          1.2.0-202309051721
	voxl-libgphoto2             0.0.4-202204111958
	voxl-libuvc                 1.0.7-202210072357
	voxl-logger                 0.3.5-202309051053
	voxl-mavcam-manager         0.5.3-202309221714
	voxl-mavlink                0.1.1-202305011701
	voxl-mavlink-server         1.2.1
	voxl-modem                  1.0.8-202310121252
	voxl-mongoose               7.7.0-1-202210072105
	voxl-mpa-to-ros             0.3.7-202310131817
	voxl-mpa-tools              1.1.3-202311151155
	voxl-neopixel-manager       0.0.3-202312061522
	voxl-opencv                 4.5.5-2-202311071601
	voxl-portal                 0.6.3
	voxl-px4                    1.14.0-2.0.62-202312061556
	voxl-px4-imu-server         0.1.2-202205131833
	voxl-px4-params             0.3.3
	voxl-qvio-server            1.0.0-202311221427
	voxl-remote-id              0.0.9-202309191605
	voxl-rtp                    0.0.1-202206101543
	voxl-stitcher               0.0.2-202206161634
	voxl-streamer               0.7.4-202309221610
	voxl-suite                  1.1.2-202312062200
	voxl-tag-detector           0.0.4-202206302112
	voxl-tflite-server          0.3.2
	voxl-utils                  1.3.3-202309221659
	voxl-uvc-server             0.1.6-202311050848
	voxl-vision-hub             1.7.3
	voxl-wifi-broadcast         0.0.10-202206122258
	voxl2-system-image          1.7.1-r0
	voxl2-wlan                  1.0-r0

How have you configured the software? What is the output of voxl-inspect-services
Do you have any logs?
voxl-camera-server -d 0 output:

existing instance of voxl-camera-server found, attempting to stop it
=================================================================
configuration for 1 cameras:

cam #0
    name:                hires
    sensor type:         imx678
    isEnabled:           1
    camId:               0
    camId2:              -1
    fps:                 30
    en_rotate:           0
    en_rotate2:          0

    en_preview:          0
    pre_width:           640
    pre_height:          480
    en_raw_preview:      0

    en_small_video:      1
    small_video_width:   1024
    small_video_height:  768

    en_large_video:      1
    large_video_width:   2048
    large_video_height:  1536

    en_snapshot:         1
    snap_width:          3840
    snap_height:         2160

    ae_mode:             isp
    standby_enabled:     0
    decimator:           1
    independent_exposure:0

=================================================================
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: 0, Slave Address: 0x0034, Sensor Id: 0xA602
GPS server Connected 
DEBUG:   Connected to cpu-monitor
DEBUG:   ------ voxl-camera-server: Starting 1 cameras
Starting Camera: hires (id #0)
DEBUG:   Checking Gain limits for Camera: hires
Using gain limits min: 54 max: 8000
DEBUG:   cam ID 0 checking for fmt:   35  w: 1024 h:  768 o:   0

DEBUG:   i:364 fmt: 36 w:3840 h:2160 o:0
VERBOSE: Successfully found configuration match for camera 0: 1024x768
DEBUG:   cam ID 0 checking for fmt:   35  w: 2048 h: 1536 o:   0

VERBOSE: Successfully found configuration match for camera 0: 2048x1536
DEBUG:   cam ID 0 checking for fmt:   33  w: 3840 h: 2160 o:   0

VERBOSE: Successfully found configuration match for camera 0: 3840x2160
VERBOSE: Adding small video stream for camera: 0
VERBOSE: Adding large video stream for camera: 0
VERBOSE: Adding snapshot stream for camera: 0
DEBUG:   Found video encoder usage, removing camera read/write usage
DEBUG:   Converted gralloc flags 0x30022 to GBM flags 0x860000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CPU_WRITE_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI	
VERBOSE: Opened GBM fd
VERBOSE: Created GBM device
DEBUG:   Allocated BO with width=1024 height=768 stride=1024 aligned_w=1024 aligned_h=1024 size=1572864 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888
DEBUG:   Found video encoder usage, removing camera read/write usage
DEBUG:   Converted gralloc flags 0x30022 to GBM flags 0x860000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CPU_WRITE_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI	
DEBUG:   Allocated BO with width=1024 height=768 stride=1024 aligned_w=1024 aligned_h=1024 size=1572864 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888
DEBUG:   Found video encoder usage, removing camera read/write usage
DEBUG:   Converted gralloc flags 0x30022 to GBM flags 0x860000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CPU_WRITE_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI	
DEBUG:   Allocated BO with width=1024 height=768 stride=1024 aligned_w=1024 aligned_h=1024 size=1572864 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888
DEBUG:   Found video encoder usage, removing camera read/write usage
DEBUG:   Converted gralloc flags 0x30022 to GBM flags 0x860000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CPU_WRITE_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI	
DEBUG:   Allocated BO with width=1024 height=768 stride=1024 aligned_w=1024 aligned_h=1024 size=1572864 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888
DEBUG:   Found video encoder usage, removing camera read/write usage
DEBUG:   Converted gralloc flags 0x30022 to GBM flags 0x860000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CPU_WRITE_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI	
DEBUG:   Allocated BO with width=1024 height=768 stride=1024 aligned_w=1024 aligned_h=1024 size=1572864 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888
DEBUG:   Found video encoder usage, removing camera read/write usage
DEBUG:   Converted gralloc flags 0x30022 to GBM flags 0x860000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CPU_WRITE_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI	
DEBUG:   Allocated BO with width=1024 height=768 stride=1024 aligned_w=1024 aligned_h=1024 size=1572864 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888
DEBUG:   Found video encoder usage, removing camera read/write usage
DEBUG:   Converted gralloc flags 0x30022 to GBM flags 0x860000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CPU_WRITE_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI	
DEBUG:   Allocated BO with width=1024 height=768 stride=1024 aligned_w=1024 aligned_h=1024 size=1572864 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888
DEBUG:   Found video encoder usage, removing camera read/write usage
DEBUG:   Converted gralloc flags 0x30022 to GBM flags 0x860000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CPU_WRITE_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI	
DEBUG:   Allocated BO with width=1024 height=768 stride=1024 aligned_w=1024 aligned_h=1024 size=1572864 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888
DEBUG:   Found video encoder usage, removing camera read/write usage
DEBUG:   Converted gralloc flags 0x30022 to GBM flags 0x860000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CPU_WRITE_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI	
DEBUG:   Allocated BO with width=1024 height=768 stride=1024 aligned_w=1024 aligned_h=1024 size=1572864 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888
DEBUG:   Found video encoder usage, removing camera read/write usage
DEBUG:   Converted gralloc flags 0x30022 to GBM flags 0x860000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CPU_WRITE_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI	
DEBUG:   Allocated BO with width=1024 height=768 stride=1024 aligned_w=1024 aligned_h=1024 size=1572864 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888
DEBUG:   Found video encoder usage, removing camera read/write usage
DEBUG:   Converted gralloc flags 0x30022 to GBM flags 0x860000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CPU_WRITE_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI	
DEBUG:   Allocated BO with width=1024 height=768 stride=1024 aligned_w=1024 aligned_h=1024 size=1572864 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888
DEBUG:   Found video encoder usage, removing camera read/write usage
DEBUG:   Converted gralloc flags 0x30022 to GBM flags 0x860000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CPU_WRITE_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI	
DEBUG:   Allocated BO with width=1024 height=768 stride=1024 aligned_w=1024 aligned_h=1024 size=1572864 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888
DEBUG:   Found video encoder usage, removing camera read/write usage
DEBUG:   Converted gralloc flags 0x30022 to GBM flags 0x860000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CPU_WRITE_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI	
DEBUG:   Allocated BO with width=1024 height=768 stride=1024 aligned_w=1024 aligned_h=1024 size=1572864 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888
DEBUG:   Found video encoder usage, removing camera read/write usage
DEBUG:   Converted gralloc flags 0x30022 to GBM flags 0x860000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CPU_WRITE_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI	
DEBUG:   Allocated BO with width=1024 height=768 stride=1024 aligned_w=1024 aligned_h=1024 size=1572864 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888
DEBUG:   Found video encoder usage, removing camera read/write usage
DEBUG:   Converted gralloc flags 0x30022 to GBM flags 0x860000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CPU_WRITE_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI	
DEBUG:   Allocated BO with width=1024 height=768 stride=1024 aligned_w=1024 aligned_h=1024 size=1572864 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888
DEBUG:   Found video encoder usage, removing camera read/write usage
DEBUG:   Converted gralloc flags 0x30022 to GBM flags 0x860000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CPU_WRITE_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI	
DEBUG:   Allocated BO with width=1024 height=768 stride=1024 aligned_w=1024 aligned_h=1024 size=1572864 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888
DEBUG:   Available color formats for OMX:
DEBUG:   	Unknown (0x7fa30c06)
DEBUG:   	Unknown (0x7fa30c06)
DEBUG:   	OMX_QCOM_COLOR_FormatYUV420PackedSemiPlanar32m (0x7fa30c04)
DEBUG:   	OMX_QCOM_COLOR_FormatYVU420SemiPlanar (0x7fa30c00)
DEBUG:   	Unknown (0x7fa30c09)
DEBUG:   	Unknown (0x7fa30c0a)
DEBUG:   	Unknown (0x7fa30c08)
DEBUG:   	Unknown (0x7fa30c07)
DEBUG:   	OMX_COLOR_FormatAndroidOpaque (0x7f000789)
DEBUG:   	OMX_COLOR_FormatYUV420SemiPlanar (0x15)
DEBUG:   Buffer Count Expected: 16
DEBUG:   Buffer Count Actual: 16
DEBUG:   Buffer Count Expected: 16
DEBUG:   Buffer Count Actual: 16
DEBUG:   OMX_EventCmdComplete
DEBUG:   OMX_EventCmdComplete
DEBUG:   OMX_EventCmdComplete
DEBUG:   OMX_EventCmdComplete
DEBUG:   Successfully set up pipeline for stream: STREAM_SMALL_VID
DEBUG:   Found video encoder usage, removing camera read/write usage
DEBUG:   Converted gralloc flags 0x30022 to GBM flags 0x860000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CPU_WRITE_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI	
DEBUG:   Allocated BO with width=2048 height=1536 stride=2048 aligned_w=2048 aligned_h=1536 size=4718592 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888
DEBUG:   Found video encoder usage, removing camera read/write usage
DEBUG:   Converted gralloc flags 0x30022 to GBM flags 0x860000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CPU_WRITE_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI	
DEBUG:   Allocated BO with width=2048 height=1536 stride=2048 aligned_w=2048 aligned_h=1536 size=4718592 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888
DEBUG:   Found video encoder usage, removing camera read/write usage
DEBUG:   Converted gralloc flags 0x30022 to GBM flags 0x860000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CPU_WRITE_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI	
DEBUG:   Allocated BO with width=2048 height=1536 stride=2048 aligned_w=2048 aligned_h=1536 size=4718592 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888
DEBUG:   Found video encoder usage, removing camera read/write usage
DEBUG:   Converted gralloc flags 0x30022 to GBM flags 0x860000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CPU_WRITE_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI	
DEBUG:   Allocated BO with width=2048 height=1536 stride=2048 aligned_w=2048 aligned_h=1536 size=4718592 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888
DEBUG:   Found video encoder usage, removing camera read/write usage
DEBUG:   Converted gralloc flags 0x30022 to GBM flags 0x860000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CPU_WRITE_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI	
DEBUG:   Allocated BO with width=2048 height=1536 stride=2048 aligned_w=2048 aligned_h=1536 size=4718592 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888
DEBUG:   Found video encoder usage, removing camera read/write usage
DEBUG:   Converted gralloc flags 0x30022 to GBM flags 0x860000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CPU_WRITE_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI	
DEBUG:   Allocated BO with width=2048 height=1536 stride=2048 aligned_w=2048 aligned_h=1536 size=4718592 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888
DEBUG:   Found video encoder usage, removing camera read/write usage
DEBUG:   Converted gralloc flags 0x30022 to GBM flags 0x860000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CPU_WRITE_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI	
DEBUG:   Allocated BO with width=2048 height=1536 stride=2048 aligned_w=2048 aligned_h=1536 size=4718592 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888
DEBUG:   Found video encoder usage, removing camera read/write usage
DEBUG:   Converted gralloc flags 0x30022 to GBM flags 0x860000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CPU_WRITE_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI	
DEBUG:   Allocated BO with width=2048 height=1536 stride=2048 aligned_w=2048 aligned_h=1536 size=4718592 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888
DEBUG:   Found video encoder usage, removing camera read/write usage
DEBUG:   Converted gralloc flags 0x30022 to GBM flags 0x860000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CPU_WRITE_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI	
DEBUG:   Allocated BO with width=2048 height=1536 stride=2048 aligned_w=2048 aligned_h=1536 size=4718592 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888
DEBUG:   Found video encoder usage, removing camera read/write usage
DEBUG:   Converted gralloc flags 0x30022 to GBM flags 0x860000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CPU_WRITE_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI	
DEBUG:   Allocated BO with width=2048 height=1536 stride=2048 aligned_w=2048 aligned_h=1536 size=4718592 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888
DEBUG:   Found video encoder usage, removing camera read/write usage
DEBUG:   Converted gralloc flags 0x30022 to GBM flags 0x860000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CPU_WRITE_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI	
DEBUG:   Allocated BO with width=2048 height=1536 stride=2048 aligned_w=2048 aligned_h=1536 size=4718592 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888
DEBUG:   Found video encoder usage, removing camera read/write usage
DEBUG:   Converted gralloc flags 0x30022 to GBM flags 0x860000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CPU_WRITE_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI	
DEBUG:   Allocated BO with width=2048 height=1536 stride=2048 aligned_w=2048 aligned_h=1536 size=4718592 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888
DEBUG:   Found video encoder usage, removing camera read/write usage
DEBUG:   Converted gralloc flags 0x30022 to GBM flags 0x860000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CPU_WRITE_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI	
DEBUG:   Allocated BO with width=2048 height=1536 stride=2048 aligned_w=2048 aligned_h=1536 size=4718592 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888
DEBUG:   Found video encoder usage, removing camera read/write usage
DEBUG:   Converted gralloc flags 0x30022 to GBM flags 0x860000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CPU_WRITE_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI	
DEBUG:   Allocated BO with width=2048 height=1536 stride=2048 aligned_w=2048 aligned_h=1536 size=4718592 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888
DEBUG:   Found video encoder usage, removing camera read/write usage
DEBUG:   Converted gralloc flags 0x30022 to GBM flags 0x860000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CPU_WRITE_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI	
DEBUG:   Allocated BO with width=2048 height=1536 stride=2048 aligned_w=2048 aligned_h=1536 size=4718592 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888
DEBUG:   Found video encoder usage, removing camera read/write usage
DEBUG:   Converted gralloc flags 0x30022 to GBM flags 0x860000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CPU_WRITE_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_VIDEO_ENCODER_QTI	
DEBUG:   Allocated BO with width=2048 height=1536 stride=2048 aligned_w=2048 aligned_h=1536 size=4718592 flags=0x30022 format=GBM_FORMAT_YCbCr_420_888
DEBUG:   Available color formats for OMX:
DEBUG:   	Unknown (0x7fa30c06)
DEBUG:   	Unknown (0x7fa30c06)
DEBUG:   	OMX_QCOM_COLOR_FormatYUV420PackedSemiPlanar32m (0x7fa30c04)
DEBUG:   	OMX_QCOM_COLOR_FormatYVU420SemiPlanar (0x7fa30c00)
DEBUG:   	Unknown (0x7fa30c09)
DEBUG:   	Unknown (0x7fa30c0a)
DEBUG:   	Unknown (0x7fa30c08)
DEBUG:   	Unknown (0x7fa30c07)
DEBUG:   	OMX_COLOR_FormatAndroidOpaque (0x7f000789)
DEBUG:   	OMX_COLOR_FormatYUV420SemiPlanar (0x15)
DEBUG:   Buffer Count Expected: 16
DEBUG:   Buffer Count Actual: 16
DEBUG:   Buffer Count Expected: 16
DEBUG:   Buffer Count Actual: 16
DEBUG:   OMX_EventCmdComplete
DEBUG:   OMX_EventCmdComplete
DEBUG:   OMX_EventCmdComplete
DEBUG:   OMX_EventCmdComplete
DEBUG:   Successfully set up pipeline for stream: STREAM_LARGE_VID
DEBUG:   Converted gralloc flags 0x20003 to GBM flags 0x420000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI	
DEBUG:   Allocated BO with width=24883208 height=1 stride=24883208 aligned_w=24883208 aligned_h=1 size=24883208 flags=0x20003 format=GBM_FORMAT_BLOB
DEBUG:   Converted gralloc flags 0x20003 to GBM flags 0x420000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI	
DEBUG:   Allocated BO with width=24883208 height=1 stride=24883208 aligned_w=24883208 aligned_h=1 size=24883208 flags=0x20003 format=GBM_FORMAT_BLOB
DEBUG:   Converted gralloc flags 0x20003 to GBM flags 0x420000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI	
DEBUG:   Allocated BO with width=24883208 height=1 stride=24883208 aligned_w=24883208 aligned_h=1 size=24883208 flags=0x20003 format=GBM_FORMAT_BLOB
DEBUG:   Converted gralloc flags 0x20003 to GBM flags 0x420000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI	
DEBUG:   Allocated BO with width=24883208 height=1 stride=24883208 aligned_w=24883208 aligned_h=1 size=24883208 flags=0x20003 format=GBM_FORMAT_BLOB
DEBUG:   Converted gralloc flags 0x20003 to GBM flags 0x420000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI	
DEBUG:   Allocated BO with width=24883208 height=1 stride=24883208 aligned_w=24883208 aligned_h=1 size=24883208 flags=0x20003 format=GBM_FORMAT_BLOB
DEBUG:   Converted gralloc flags 0x20003 to GBM flags 0x420000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI	
DEBUG:   Allocated BO with width=24883208 height=1 stride=24883208 aligned_w=24883208 aligned_h=1 size=24883208 flags=0x20003 format=GBM_FORMAT_BLOB
DEBUG:   Converted gralloc flags 0x20003 to GBM flags 0x420000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI	
DEBUG:   Allocated BO with width=24883208 height=1 stride=24883208 aligned_w=24883208 aligned_h=1 size=24883208 flags=0x20003 format=GBM_FORMAT_BLOB
DEBUG:   Converted gralloc flags 0x20003 to GBM flags 0x420000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI	
DEBUG:   Allocated BO with width=24883208 height=1 stride=24883208 aligned_w=24883208 aligned_h=1 size=24883208 flags=0x20003 format=GBM_FORMAT_BLOB
DEBUG:   Converted gralloc flags 0x20003 to GBM flags 0x420000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI	
DEBUG:   Allocated BO with width=24883208 height=1 stride=24883208 aligned_w=24883208 aligned_h=1 size=24883208 flags=0x20003 format=GBM_FORMAT_BLOB
DEBUG:   Converted gralloc flags 0x20003 to GBM flags 0x420000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI	
DEBUG:   Allocated BO with width=24883208 height=1 stride=24883208 aligned_w=24883208 aligned_h=1 size=24883208 flags=0x20003 format=GBM_FORMAT_BLOB
DEBUG:   Converted gralloc flags 0x20003 to GBM flags 0x420000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI	
DEBUG:   Allocated BO with width=24883208 height=1 stride=24883208 aligned_w=24883208 aligned_h=1 size=24883208 flags=0x20003 format=GBM_FORMAT_BLOB
DEBUG:   Converted gralloc flags 0x20003 to GBM flags 0x420000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI	
DEBUG:   Allocated BO with width=24883208 height=1 stride=24883208 aligned_w=24883208 aligned_h=1 size=24883208 flags=0x20003 format=GBM_FORMAT_BLOB
DEBUG:   Converted gralloc flags 0x20003 to GBM flags 0x420000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI	
DEBUG:   Allocated BO with width=24883208 height=1 stride=24883208 aligned_w=24883208 aligned_h=1 size=24883208 flags=0x20003 format=GBM_FORMAT_BLOB
DEBUG:   Converted gralloc flags 0x20003 to GBM flags 0x420000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI	
DEBUG:   Allocated BO with width=24883208 height=1 stride=24883208 aligned_w=24883208 aligned_h=1 size=24883208 flags=0x20003 format=GBM_FORMAT_BLOB
DEBUG:   Converted gralloc flags 0x20003 to GBM flags 0x420000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI	
DEBUG:   Allocated BO with width=24883208 height=1 stride=24883208 aligned_w=24883208 aligned_h=1 size=24883208 flags=0x20003 format=GBM_FORMAT_BLOB
DEBUG:   Converted gralloc flags 0x20003 to GBM flags 0x420000
VERBOSE: Dumping GBM flags
DEBUG:   	Found flag GBM_BO_USAGE_CPU_READ_QTI		
DEBUG:   	Found flag GBM_BO_USAGE_CAMERA_WRITE_QTI	
DEBUG:   Allocated BO with width=24883208 height=1 stride=24883208 aligned_w=24883208 aligned_h=1 size=24883208 flags=0x20003 format=GBM_FORMAT_BLOB
DEBUG:   Successfully set up pipeline for stream: SNAPSHOT
DEBUG:   Started Camera: hires

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

------ voxl-camera-server: Camera server is now running
VERBOSE: Entered thread: cam0-request(tid: 399559)
VERBOSE: Entered thread: cam0-result(tid: 399560)
VERBOSE: added request for small video stream
VERBOSE: Sending request for frame 0 for camera hires for 1 streams
VERBOSE: Received result from HAl3 for frame number 0
VERBOSE: Received 0 buffers from camera hires, partial result:1
VERBOSE: finished sending request for frame 0 for camera hires
VERBOSE: returning from SendOneCaptureRequest for frame 1 for camera hires
VERBOSE: added request for small video stream
VERBOSE: Sending request for frame 1 for camera hires for 1 streams
VERBOSE: finished sending request for frame 1 for camera hires
VERBOSE: returning from SendOneCaptureRequest for frame 2 for camera hires
VERBOSE: added request for small video stream
VERBOSE: Sending request for frame 2 for camera hires for 1 streams
VERBOSE: finished sending request for frame 2 for camera hires
VERBOSE: returning from SendOneCaptureRequest for frame 3 for camera hires
VERBOSE: added request for small video stream
VERBOSE: Sending request for frame 3 for camera hires for 1 streams
VERBOSE: finished sending request for frame 3 for camera hires
VERBOSE: returning from SendOneCaptureRequest for frame 4 for camera hires
VERBOSE: added request for small video stream
VERBOSE: Sending request for frame 4 for camera hires for 1 streams
VERBOSE: Received result from HAl3 for frame number 1
VERBOSE: Received 0 buffers from camera hires, partial result:1
VERBOSE: finished sending request for frame 4 for camera hires
VERBOSE: returning from SendOneCaptureRequest for frame 5 for camera hires
VERBOSE: added request for small video stream
VERBOSE: Sending request for frame 5 for camera hires for 1 streams
VERBOSE: Received result from HAl3 for frame number 2
VERBOSE: Received 0 buffers from camera hires, partial result:1
VERBOSE: Received result from HAl3 for frame number 0
VERBOSE: Received 0 buffers from camera hires, partial result:2
VERBOSE: Received metadata for frame 0 from camera hires
VERBOSE: 	Timestamp: 2202213421442
VERBOSE: 	Gain: 54
VERBOSE: 	Exposure: 270328
VERBOSE: Received result from HAl3 for frame number 3
VERBOSE: Received 0 buffers from camera hires, partial result:1
VERBOSE: Received result from HAl3 for frame number 0
VERBOSE: Received 1 buffers from camera hires, partial result:0
VERBOSE: Received output buffer 0 from camera hires
VERBOSE: finished sending request for frame 5 for camera hires
VERBOSE: returning from SendOneCaptureRequest for frame 6 for camera hires
VERBOSE: hires procesing new buffer
VERBOSE: added request for small video stream
VERBOSE: Sending request for frame 6 for camera hires for 1 streams
VERBOSE: Camera: hires processing small vid frame
VERBOSE: Received result from HAl3 for frame number 4
VERBOSE: Received 0 buffers from camera hires, partial result:1
---- SKIP FOR LENGTH -----

VERBOSE: hires procesing new buffer
VERBOSE: Camera: hires processing small vid frame
VERBOSE: returning from SendOneCaptureRequest for frame 26 for camera hires
VERBOSE: added request for small video stream
VERBOSE: Sending request for frame 26 for camera hires for 1 streams

------ voxl-camera-server: Camera server is now stopping
DEBUG:   	Stopping Camera: hires

Have you looked at the source code? If so, can you point to any potential issues?

Have not dug into the camera server source yet. On some vehicles this works fine for hours at a time. On others, this issue pops up consistently. We have swapped cameras, cables, etc.
We thought perhaps it was ripple or other issues to supply. It does seem to happen more frequently when extensions are used, as expected.

Perhaps EMI and need for more custom/shorter cables?

@modaltb Thankyou so much for the quick eyes on this!
We owe you some beers!

Is there a way to get a unique serial number from VOXL2 hardware? We'd like to do checkouts on each VOXL2/mini platform and track units through assembly and be able to access this in software. I would imagine this gets overwritten the moment you also do a factory image flash. Just wanted to check!

It looks like maybe you guys had something like this working in: https://docs.modalai.com/Qualcomm-Flight-RB5-sdk-utils/#rb5-flight-versions

Perhaps based on: https://github.com/quic/sample-apps-for-robotics-platforms/blob/master/RB5/linux_kernel_4_x/platform-bringup/Device-info/src/qrb5165_info.c

Or just cat /sys/bus/soc/devices/soc0/serial_number and we associate that with our ModalAI Serial Number.

What hardware are you using? VOXL2, VOXL2mini
What version of software are you using? SDK 1.1.1
How have you configured the software? Yes (mpa, etc)
Do you have any logs? Not required for this issue.
Can you share pictures of your setup? If needed -- applies to any VOXL2(mini) based hardware.
Have you looked at the source code? Yes -- did see that the RB5 has a utility that maybe can do this and the SKU utils.

@wilkinsaf Definitely interested in this as well!

We are trying to get a 3xTracking and 1x Hi-Res configuration working. Based on testing, it seems this might not be a supported configuration.

• Based on stock bionic Modal kernel and image released
• Based on interface board m0135
  • The Tracker sensor (ov7251) can only be connected to JU (furthest from Qualcomm chip)
  • The HiRes sensor (Imx214) can only be connected to JL, (Closest to the Qualcomm chip)
  • Connecting the wrong sensor to the JU/JL on Voxl2 mini J6 connector will fail to boot and normally require a fast boot to reimage
    • Connecting to J7 does not boot, but generally recovers without fastboot reimage required.
  • If using the m0135 inteface board, one must be fully populated with both a high res and a tracker sensor
    • If using two, the second board should not populate the HiRes sensor
  • Trying to connect two of the same sensors to the interface board will fail, and depending if J6 is used, a fast boot reimage may be required

Reviewing m0014 (tracker) shows the cable is 1 lane CSI with most pins not connected. There is no obvious reason for crashing when connecting to the wrong JU/JL.
Is there something that potentially is causing a hardware fault in this configuration?

The highest sensor configuration we can get working is that above, 1 HiRes and 2 Trackers.

Thanks for any help Modal Team!

Similar to you both:

 voxl-camera-server    |  Enabled  |   Running   |    71.1%
 voxl-cpu-monitor      |  Enabled  |   Running   |     0.1%
 voxl-dfs-server       | Disabled  | Not Running |
 voxl-feature-tracker  | Disabled  | Not Running |
 voxl-flow-server      | Disabled  | Not Running |
 voxl-imu-server       |  Enabled  |   Running   |     1.5%
 voxl-lepton-server    | Disabled  | Not Running |
 voxl-mavcam-manager   | Disabled  | Not Running |
 voxl-mavlink-server   |  Enabled  |   Running   |     0.2%
 voxl-modem            | Disabled  | Not Running |
 voxl-portal           |  Enabled  |   Running   |    60.1%

This is with HIRES, Tracking, Stereo on SDK 1.0. I also disabled large encoding on the HIRES from the camera server. Just bumping to see if this is expected.

Modal team (or others),

Before we put any effort in, was curious if anyone has looked into solutions like Mender for rolling updates out to the VOXL2 boards?
I would assume we would need full access to the bootloader and image builds in order to do so beyond what you are able to make available here: https://gitlab.com/voxl-public/system-image-build

Thanks!
Steve

@viralp Make sure you confirm the cable orientation remains the same as with the shorter cables. If the pins flip, the camera server will start and fail.

Also, sometimes interference at a certain length can cause issues. Also a debug log of the camera server would be helpful by running the camera server with the debug flag.

-d, --debug-level       : Log debug level (Default 2)
                      0 : Print verbose logs
                      1 : Print >= info logs
                      2 : Print >= warning logs
                      3 : Print only fatal logs

Zach,

Thanks for the quick response!
I can run both on the dev branch, or roll back to staging.

I thought that voxl-vision-hub would talk to the voxl-mavlink-server which handles all communication with PX4.

From there voxl-mavlink-server forwards between visionhub, px4, and QGC once it connections.

I'll try running the new config tool again to see if that cleans anything up.

Anything else to look for for the bus error?