Posts made by Steve Turner

Steve Turner

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

Generally, it is exacerbated by the extension cables.

Steve Turner

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?

Steve Turner

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

Steve Turner

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.

Steve Turner

@wilkinsaf Definitely interested in this as well!

Steve Turner

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!

Steve Turner

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.

Steve Turner

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

Steve Turner

@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

Steve Turner

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?

Steve Turner

We were running a VOXL-1 based system off of staging.

Aftern an opkg update and opkg upgrade it looks like the MAVLINK server is broken. We're investigating now, just wanted to get this out there.

voxl:~$ voxl-mavlink-server
loading our own config file
=================================================================
Parameters as loaded from config file:
primary_static_gcs_ip:        192.168.8.10
secondary_static_gcs_ip:      NULL
autopilot_uart_backup_bus:    12
autopilot_uart_bus:           5
autopilot_uart_baudrate:      921600
udp_mtu:                      0
en_external_ap_timesync:      1
=================================================================
Successfully opened primary mavparser on bus 5
Starting primary thread for bus 5
Successfully opened backup mavparser on bus 12
Starting backup thread for bus 12
got first packet on bus 5, stopping the other bus: 12
Adding primary GCS IP address from conf file to list: 192.168.8.10
Added new UDP connection to 192.168.8.10
Not connecting to secondary gcs ip: NULL
Added new UDP connection to 10.147.20.136
CONNECTED to GCS at 10.147.20.136
Init complete, entering main loop
Detected Autopilot Mavlink SYSID 1
thread for bus 12 trying to close
thread for bus 12 Successfully closed
Bus error

If I rollback the mavlink server to previous versions it seems happy but I can't connect to voxl-vision-hub through the mavlink server from something like QGC.

Steve Turner

Will be the VOXL2 IMU's.

https://docs.modalai.com/configure-extrinsics/#voxl2 recommends using imu_apps for configuration.

Steve Turner

Use cam name = "stereo" and there should be an option for using either the left or right stereo camera.

As Chad pointed out you will need to also configure extrinsics if they aren't already for the stereo camera.
https://gitlab.com/voxl-public/voxl-sdk/services/voxl-qvio-server/-/blob/master/server/config_file.h#L155

I have a PR to fix an issue with using a stereo camera here with the QVIO Server: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-qvio-server/-/merge_requests/10 that you will need as well I believe.

Steve Turner

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.

Steve Turner

Yes, you can. You may need to evaluate the performance of both at the same time and make tweaks.

Steve Turner

You can change the QVIO server to use a stereo camera if you want in the front, but these are much narrower FOV.

https://docs.modalai.com/configure-extrinsics/ would need to be adjusted to accommodate any camera location changes as well. This is not something supported out of the box with the current VOXL software and would require some work on your part to make it fit your platform and camera configuration.

Steve Turner

Resurrecting this topic. We have two drones with identical hardware builds.
Only camera's plugged in are tracking cameras to J4.
Both are running the latest system image.

Drone 1's camera server never crashes while flying Indoors/outdoors.
Drone 2's camera server sometimes crashes and seems to be triggered by exposure changes when outside in bright environments. It is running a slightly newer version of voxl-camera-server.

The failing drone has this in the logs from logcat | grep "camera":

voxl:~$ logcat | grep camera


01-26 20:06:14.004  5732  5732 V HAL     : loaded HAL id=camera path=/usr/lib/hw/camera.msm8996.so hmi=(nil) handle=0x64450
01-26 20:06:14.005  5732  5732 I QCamera : <MCI><INFO> get_num_of_cameras: 2767: dev_info[id=0,name='video2']
01-26 20:06:14.005  5732  5732 I QCamera : <MCI><INFO> sort_camera_info: 2611: Camera id: 0 facing: 1, type: 1 is_yuv: 0
01-26 20:06:14.005  5732  5732 I QCamera : <MCI><INFO> sort_camera_info: 2617: Number of cameras 1 sorted 1
01-26 20:06:14.005  5732  5732 I QCamera : <MCI><INFO> get_num_of_cameras: 2785: num_cameras=1
01-26 20:06:14.006  5732  5732 I QCamera : <HAL><INFO> QCamera2Factory: 142: 1 camera devices detected!
01-26 20:06:14.107  5732  5732 E QCamera : <HAL><ERROR> initStaticMetadata: 9846: static int qcamera::QCamera3HardwareInterface::initStaticMetadata(uint32_t)@9846: from gCamCapability QCAMERA3_EXP_TIME_RANGE= (19425, 1020461640)
01-26 20:06:14.107  5732  5732 E QCamera : <HAL><ERROR> initStaticMetadata: 9877: static int qcamera::QCamera3HardwareInterface::initStaticMetadata(uint32_t)@9877: cameraId 0 raw_dim[0].w 640 raw_dim[0].h 480
01-26 20:06:14.107  5732  5732 I QCamera : <HAL><INFO> getCamInfo: 10272: camera 0 resource cost is 100
01-26 20:06:14.107  5732  5732 I QCamera : <HAL><INFO> cameraDeviceOpen: 414: Open camera id 0 API version 768
01-26 20:06:14.117  5732  5732 I QCamera : <HAL><INFO> openCamera: 851: [KPI Perf]: E PROFILE_OPEN_CAMERA camera id 0
01-26 20:06:14.197  5732  5732 I QCamera : <HAL><INFO> openCamera: 861: [KPI Perf]: X PROFILE_OPEN_CAMERA camera id 0, rc: 0
01-26 20:06:14.197  5732  5732 E QCamera : <HAL><ERROR> initParameters: 8374: int qcamera::QCamera3HardwareInterface::initParameters()@8374 HAL params are initialized


01-26 20:07:55.283  5732  5789 E QCamera : <MCI><ERROR> mm_camera_event_notify: 192: Camera Event DAEMON DIED received
01-26 20:07:55.284  5732  5788 E QCamera : <HAL><ERROR> camEvtHandle: 803: Fatal, camera daemon died

journalctl on the drone with crashed voxl-camera-server shows:

Jan 01 00:00:52 apq8096 systemd[1]: Started voxl-camera-server.
Jan 26 20:01:17 apq8096 bash[2966]: ERROR:   Recieved "Buffer" error from camera: tracking
Jan 26 20:01:23 apq8096 bash[2966]: ERROR:   Recieved "Buffer" error from camera: tracking
Jan 26 20:01:24 apq8096 bash[2966]: ERROR:   Recieved "Buffer" error from camera: tracking
Jan 26 20:01:35 apq8096 bash[2966]: ERROR:   Recieved "Buffer" error from camera: tracking
Jan 26 20:01:37 apq8096 bash[2966]: ERROR:   Recieved "Buffer" error from camera: tracking
Jan 26 20:01:42 apq8096 bash[2966]: ERROR:   Recieved Fatal error from camera: tracking
Jan 26 20:01:42 apq8096 bash[2966]: ERROR:   Sending request 7188, ErrorCode: -ENODEV
Jan 26 20:01:42 apq8096 bash[2966]: WARNING: Thread: tracking request thread recieved ESTOP
Jan 26 20:01:42 apq8096 bash[2966]: WARNING: Thread: tracking result thread recieved ESTOP
Jan 26 20:01:42 apq8096 bash[2966]: ------ voxl-camera-server INFO: Camera server is now stopping
Jan 26 20:01:42 apq8096 bash[2966]: WARNING: Deleting buffers: 24 of 32 still in use
Jan 26 20:01:42 apq8096 bash[2966]: Segmentation fault:
Jan 26 20:01:42 apq8096 bash[2966]: Fault thread: voxl-camera-ser(tid: 2966)
Jan 26 20:01:42 apq8096 bash[2966]: Fault address: 0x8
Jan 26 20:01:42 apq8096 bash[2966]: Address not mapped.
Jan 26 20:01:43 apq8096 systemd[1]: [[1;39mvoxl-camera-server.service: Main process exited, code=killed, status=11/SEGV[[0m
Jan 26 20:01:43 apq8096 systemd[1]: [[1;39mvoxl-camera-server.service: Unit entered failed state.[[0m
Jan 26 20:01:43 apq8096 systemd[1]: [[1;39mvoxl-camera-server.service: Failed with result 'signal'.[[0m

They have not been crashed... and the failure happens regularly when in bright environments. I matched up software versions as well and the crash still happens, so it has to be some kind of hardware issue and the below can be disregarded.

Hardware problems again with expansion or something weird in this specific camera/cable?

Drone 1 package versions (a bit older/stable repo):

libvoxl-cci-direct - 0.1.5
libvoxl-cutils - 0.1.1
voxl-camera-calibration - 0.2.3
voxl-camera-server - 1.3.5
voxl-cpu-monitor - 0.3.0
voxl-docker-support - 1.2.4
voxl-gphoto2-server - 0.0.10
voxl-jpeg-turbo - 2.1.3-4
voxl-libgphoto2 - 0.0.4
voxl-libuvc - 1.0.7
voxl-logger - 0.3.4
voxl-mavlink - 0.1.0
voxl-mavlink-server - 0.2.0
voxl-modem - 0.16.1
voxl-mongoose - 7.7.0-1
voxl-mpa-to-ros - 0.3.6
voxl-mpa-tools - 0.7.6
voxl-opencv - 4.5.5-1
voxl-portal - 0.4.2
voxl-qvio-server - 0.9.0
voxl-streamer - 0.4.1
voxl-suite - 0.9.4
voxl-system-image - 4.0-r0
voxl-tag-detector - 0.0.4
voxl-tflite-server - 0.3.1
voxl-utils - 1.2.2
voxl-uvc-server - 0.1.3
voxl-vision-px4 - 1.4.0
voxl-vpn - 0.0.6

Drone 2 package versions (a bit newer, dev repos):

libvoxl-cci-direct - 0.1.5
libvoxl-cutils - 0.1.1
voxl-camera-calibration - 0.3.0
voxl-camera-server - 1.3.7
voxl-cpu-monitor - 0.4.1
voxl-docker-support - 1.2.5
voxl-gphoto2-server - 0.0.10
voxl-jpeg-turbo - 2.1.3-4
voxl-lepton-server - 1.0.1
voxl-libgphoto2 - 0.0.4
voxl-libuvc - 1.0.7
voxl-logger - 0.3.4
voxl-mavlink - 0.1.0
voxl-mavlink-server - 0.2.0
voxl-modem - 0.16.2
voxl-mongoose - 7.7.0-1
voxl-mpa-to-ros - 0.3.6
voxl-mpa-tools - 0.8.4
voxl-opencv - 4.5.5-1
voxl-portal - 0.4.3
voxl-qvio-server - 0.9.0
voxl-streamer - 0.4.3
voxl-suite - 1.0.0
voxl-system-image - 4.0-r0
voxl-tag-detector - 0.0.4
voxl-tflite-server - 0.3.1
voxl-utils - 1.2.3
voxl-uvc-server - 0.1.3
voxl-vision-px4 - 1.4.1
voxl-vpn - 0.0.6

Steve Turner

https://github.com/PX4/PX4-Autopilot/issues/20950

@Sem-Andeweg Just cross-posting here too for anyone that comes back to it. I'm interested in these issues as well.

Steve Turner

Sem, (I don't work for modal!)

A few ideas..

Have you tried disabling the QVIO service and adjusting the EKF2_AID_MASK values to ignore the vision inputs across the modes you've tested with PX4?

See how the platform behaves and that should either point to VIO or rule it out. In stabilized mode and without GPS and VIO inputs the platform should be relatively stable.

Steve Turner

Is it possible to run High-Resolution + TOF + Stereo on the VOXL? Very familiar with the configs at https://docs.modalai.com/voxl-camera-config/

Apologies for a bit of a noob question -- just tried it out and getting a segfault when J4 is set to stereo.
If it doesn't work now, that's fine just curious if it is fixable in software or a different port config before we dive in too far.

Thanks!