I'm using VOXL2 I have connected the coax board to the voxl . when I screw the board on the drone firmly. the voxl boots up and works fine but I loose connection often. when I unscrew the voxl 2 and try to boot it. it doesn't boot. I have tried installing new SDK and downgrading it. no affect.
this behaviour is very weard I can't understand what is going on and what could be the reason.

@Alex-Kushleyev I have got this camera two days back and I have connected it and tested them both they, worked fine. I had to unbrick my board so I unbricked it and installed new SDK 1.4.1.

It was working fine before and after installation. I have just disconnected the camera and conected it again, because I was installing it in the holder that I 3D printed, just before installing I have tested it once, it is not working since than. only once I have disconnected the cable and connected it again, it stopped working. I have checked there is no damage to cables or board. I have handled them properly.

@Alex-Kushleyev

Thank you @Alex-Kushleyev
This is the output from my voxl-inspect-cam -a

|                Pipe Name |  bytes  | wide |  hgt |exp(ms)| gain | frame id |lt
|                 tof_conf |   43200 |  180 |  240 |  2.70 |    0 |     2824 | 8
|                tof_depth |   43200 |  180 |  240 |  2.70 |    0 |     2824 | 8
|                   tof_ir |   43200 |  180 |  240 |  2.70 |    0 |     2824 | 8
|           tracking_front | 1024000 | 1280 |  800 | 12.00 | 1596 |     8926 | 8
|     tracking_front_bayer | 1024000 | 1280 |  800 | 12.00 | 1596 |     8926 | 8
| tracking_front_misp_grey | 1024000 | 1280 |  800 | 12.00 | 1596 |     8926 | 8
| tracking_front_misp_norm | 1024000 | 1280 |  800 | 12.00 | 1596 |     8926 | 8

This is the output when I run voxl-camera-server.

voxl-camera-server 
existing instance of voxl-camera-server found, attempting to stop it
MISP awb str: auto
Setting MISP AWB to Autodetected system image 1.8.2
using new imx412 defaults
MISP awb str: auto
Setting MISP AWB to Auto=================================================================
configuration for 4 cameras:

cam #0
    name:                tracking_front
    sensor type:         ar0144
    isEnabled:           1
    camId:               0
    camId2:              -1
    fps:                 30
    en_rotate:           1
    en_rotate2:          0

    en_preview:          1
    pre_width:           1280
    pre_height:          800
    en_raw_preview:      1

    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_misp:             1
    misp_width:          1280
    misp_height:         800

    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

cam #1
    name:                hires
    sensor type:         imx412
    isEnabled:           1
    camId:               1
    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:   4056
    large_video_height:  3040

    en_misp:             0
    misp_width:          -1
    misp_height:         -1

    en_snapshot:         1
    snap_width:          4056
    snap_height:         3040
    exif_focal_length:   3.100000
    exif_focal_len_35mm_format:17
    exif_fnumber:        1.240000

    ae_mode:             isp
    msv_exposure_min_us: 20
    msv_exposure_max_us: 33000
    gain_min           : 54
    gain_max           : 8000
    standby_enabled:     0
    decimator:           1
    independent_exposure:0

cam #2
    name:                tof
    sensor type:         pmd-tof-liow2
    isEnabled:           1
    camId:               2
    camId2:              -1
    fps:                 10
    en_rotate:           1
    en_rotate2:          0

    en_preview:          1
    pre_width:           240
    pre_height:          1629
    en_raw_preview:      1

    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_misp:             0
    misp_width:          -1
    misp_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:             off
    msv_exposure_min_us: 0
    msv_exposure_max_us: 6000
    gain_min           : 0
    gain_max           : 0
    standby_enabled:     0
    decimator:           5
    independent_exposure:0

cam #3
    name:                tracking_down
    sensor type:         ar0144
    isEnabled:           1
    camId:               3
    camId2:              -1
    fps:                 30
    en_rotate:           0
    en_rotate2:          0

    en_preview:          1
    pre_width:           1280
    pre_height:          800
    en_raw_preview:      1

    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_misp:             1
    misp_width:          1280
    misp_height:         800

    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: tracking_front (id #0)
gbm_create_device(156): Info: backend name is: msm_drm
MISP Initializing!!!
 Detected 1 platform(s)
 Detected 1 GPU device(s)
Starting Camera: hires (id #1)
ERROR:   Camera 1 failed to find supported stream config: 1024x768
WARNING: Failed to start cam hires due to invalid resolution
WARNING: assuming cam is missing and trying to compensate
Starting Camera: tof (originally id #2) with id offset: 1
Starting Camera: tracking_down (originally id #3) with id offset: 1
WARNING: cam tracking_down (id 2) does not seem to be alive

------ voxl-camera-server: Started 2 of 4 cameras

------ voxl-camera-server: Camera server is now running
camera tracking_front frame size: 1024000 (1540096 alloc).. raw bpp: 8
WARNING: [ROYALE_WARNING] {ROYALE_FRAME_DROP}: Dropped 10223 frame(s).
WARNING: [ROYALE_WARNING] {ROYALE_RAW_FRAME_STATS}: Raw frame drop stats: Bridge 10223 frames dropped, FC 0 frames dropped, 9 frames delivered.
WARNING: [ROYALE_WARNING] {ROYALE_FRAME_DROP}: Dropped 9 frame(s).
WARNING: [ROYALE_WARNING] {ROYALE_RAW_FRAME_STATS}: Raw frame drop stats: Bridge 9 frames dropped, FC 0 frames dropped, 81 frames delivered.
^C
received SIGINT Ctrl-C

------ voxl-camera-server: Camera server is now stopping
WARNING: Deleting buffers: 6 of 16 still in use
WARNING: Deleting buffers: 6 of 16 still in use

------ voxl-camera-server: Camera server exited gracefully, returning 0

this is my voxl sdk info

voxl2:~$ voxl-version 
--------------------------------------------------------------------------------
system-image: 1.8.02-M0054-14.1a-perf
kernel:       #1 SMP PREEMPT Mon Nov 11 22:47:44 UTC 2024 4.19.125
--------------------------------------------------------------------------------
hw platform:  M0054
mach.var:     1.0.1
--------------------------------------------------------------------------------
voxl-suite:   1.4.3
--------------------------------------------------------------------------------
Packages:

Thank you for help.

@Alex-Kushleyev I have only three cameras one TOF, Tracking, Hires each. TOF and Tracking are working properly.

for calibration I',m just calibrating Tracking camera with fish eye

voxl-calibrate-cameras -f -s 8x5 -l 0.029

it is trying to calibrate extrinsics automatically.

@Alex-Kushleyev

sorry for the trouble, but I can't get my head around why this is happening,

voxl2:~$ ls /usr/lib/camera/*sensormodule*
/usr/lib/camera/com.qti.sensormodule.ar0144_combo_0.bin
/usr/lib/camera/com.qti.sensormodule.ar0144_combo_6.bin
/usr/lib/camera/com.qti.sensormodule.imx412_fpv_1.bin
/usr/lib/camera/com.qti.sensormodule.irs2975c_3.bin
voxl2:~$

is there any chance my SDK installation might be corrupt. I have tried using 1.4.1 and 1.4.0.

@Alex-Kushleyev
Yeah I did follow the exact camera connections given on C26 configuration except that I don't have a down tracking camera. everything else is same. It's weird that it worked at start and than no response at all.

@Alex-Kushleyev Thank you for the advise , I have been using the kernal image which includes M0173 breakout board.

voxl2:~$ voxl-camera-server -l
existing instance of voxl-camera-server found, attempting to stop it
DEBUG:   Attempting to open the hal module
DEBUG:   SUCCESS: Camera module opened on attempt 0
DEBUG:   ----------- Number of cameras: 2

DEBUG:   Cam idx: 0, Cam slot: 0, Slave Address: 0x0030, Sensor Id: 0x0356
DEBUG:   Cam idx: 1, Cam slot: 3, Slave Address: 0x007A, Sensor Id: 0x2975
DEBUG:   Note: This list comes from the HAL module and may not be indicative
DEBUG:   	of configurations that have full pipelines

DEBUG:   Number of cameras: 2


====================================
Stats for camera: 0

ANDROID_SCALER_AVAILABLE_RAW_SIZES:
These are likely supported by the sensor
1280 x  800
1280 x  800

ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
These are NOT necessarily supported by the sensor
1280 x  800 HAL_PIXEL_FORMAT_YCbCr_420_888
1280 x  800 HAL_PIXEL_FORMAT_BLOB
1280 x  768 HAL_PIXEL_FORMAT_YCbCr_420_888
1280 x  768 HAL_PIXEL_FORMAT_BLOB
1280 x  720 HAL_PIXEL_FORMAT_YCbCr_420_888
1280 x  720 HAL_PIXEL_FORMAT_BLOB
1024 x  738 HAL_PIXEL_FORMAT_YCbCr_420_888
1024 x  738 HAL_PIXEL_FORMAT_BLOB
1024 x  768 HAL_PIXEL_FORMAT_YCbCr_420_888
1024 x  768 HAL_PIXEL_FORMAT_BLOB
 864 x  480 HAL_PIXEL_FORMAT_YCbCr_420_888
 864 x  480 HAL_PIXEL_FORMAT_BLOB
 800 x  600 HAL_PIXEL_FORMAT_YCbCr_420_888
 800 x  600 HAL_PIXEL_FORMAT_BLOB
 800 x  480 HAL_PIXEL_FORMAT_YCbCr_420_888
 800 x  480 HAL_PIXEL_FORMAT_BLOB
 720 x  480 HAL_PIXEL_FORMAT_YCbCr_420_888
 720 x  480 HAL_PIXEL_FORMAT_BLOB
 640 x  512 HAL_PIXEL_FORMAT_YCbCr_420_888
 640 x  512 HAL_PIXEL_FORMAT_BLOB
 640 x  480 HAL_PIXEL_FORMAT_YCbCr_420_888
 640 x  480 HAL_PIXEL_FORMAT_BLOB
 640 x  400 HAL_PIXEL_FORMAT_YCbCr_420_888
 640 x  400 HAL_PIXEL_FORMAT_BLOB
 640 x  360 HAL_PIXEL_FORMAT_YCbCr_420_888
 640 x  360 HAL_PIXEL_FORMAT_BLOB
 352 x  288 HAL_PIXEL_FORMAT_YCbCr_420_888
 352 x  288 HAL_PIXEL_FORMAT_BLOB
 320 x  240 HAL_PIXEL_FORMAT_YCbCr_420_888
 320 x  240 HAL_PIXEL_FORMAT_BLOB
 240 x  320 HAL_PIXEL_FORMAT_YCbCr_420_888
 240 x  320 HAL_PIXEL_FORMAT_BLOB
 176 x  144 HAL_PIXEL_FORMAT_YCbCr_420_888
 176 x  144 HAL_PIXEL_FORMAT_BLOB
1280 x  800 HAL_PIXEL_FORMAT_RAW10
1280 x  800 HAL_PIXEL_FORMAT_RAW12
1280 x  800 HAL_PIXEL_FORMAT_RAW16
1280 x  800 HAL_PIXEL_FORMAT_RAW_OPAQUE

ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
	min = 54
	max = 1596

ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
	1596

ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
	min = 0ns
	max = 1318629735ns


====================================
Stats for camera: 1

ANDROID_SCALER_AVAILABLE_RAW_SIZES:
These are likely supported by the sensor
 240 x 1629

ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
These are NOT necessarily supported by the sensor
 240 x  320 HAL_PIXEL_FORMAT_YCbCr_420_888
 240 x  320 HAL_PIXEL_FORMAT_BLOB
 176 x  144 HAL_PIXEL_FORMAT_YCbCr_420_888
 176 x  144 HAL_PIXEL_FORMAT_BLOB
 240 x 1629 HAL_PIXEL_FORMAT_RAW10
 240 x 1629 HAL_PIXEL_FORMAT_RAW12
 240 x 1629 HAL_PIXEL_FORMAT_RAW16
 240 x 1629 HAL_PIXEL_FORMAT_RAW_OPAQUE

ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
	min = 54
	max = 0

ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
	0

ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
	min = 0ns
	max = 0ns

====================================
Number of cameras detected: 2
====================================
voxl2:~$ voxl-version | grep mach
mach.var:     1.0.1
voxl2:~$ 

I have TOF, tracking and Hires connected to the board it worked fine as soon as connected for first time than I can see no response from Hires but Tracking and TOF are working properly.

I'm using a VOXL 2 flight controller with an M0173 Starling 2 Front End. The setup includes tracking camera, PMD TOF and a high-resolution (hires) IMX412 camera. While the tracking cameras and TOF are detected and functioning, I'm unable to get any response from the hires camera.

I have tried reconnnecting camera again and reinstalled SDK. and downgraded to SDK 1.4.0.

when I connected them first it worked properly and I havr disconnected the cable and connected again , it is not showing at all. I have checked reconnecting the cable properly multiple times. I even tried swapping Tracking cable to Hires but no use.

Error I have got from voxl-camera-server

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: tracking_front (id #0)
gbm_create_device(156): Info: backend name is: msm_drm
MISP Initializing!!!
 Detected 1 platform(s)
 Detected 1 GPU device(s)
Starting Camera: hires (id #1)
ERROR:   Camera 1 failed to find supported stream config: 1024x768
WARNING: Failed to start cam hires due to invalid resolution
WARNING: assuming cam is missing and trying to compensate
Starting Camera: tof (originally id #2) with id offset: 1
Starting Camera: tracking_down (originally id #3) with id offset: 1
WARNING: cam tracking_down (id 2) does not seem to be alive

------ voxl-camera-server: Started 2 of 4 cameras

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

please suggest me any fixes for this.

My SKU is :

family code: MCCA-M0054 (voxl2-board-only)
compute board: 4 (voxl2)
hw version: 1
cam config: 26
modem config: ()
tx config: ()
extras config: ()
SKU: MCCA-M0054-C26-T0-M0-X0

this is my voxl-camera-server.config file

cat /etc/modalai/voxl-camera-server.conf 
/**
 * voxl-camera-server Configuration File
 *
 * Each camera has configurations for up to 4 HAL3 streams:
 *    - `preview` stream for raw unprocessed images from CV cameras
 *    - `small_video` 720p (ish) h264/h265 compressed for fpv video streaming
 *    - `large_video` 4k (ish) h264/h265 for onboard video recording to disk
 *    - `snapshot` ISP-processed JPG snapshots that get saved to disk
 *
 * on QRB5165 platforms (VOXL2 and VOXL2 mini) you can only have 3 of the 4 enabled
 *
 * This file is generated from default values by voxl-configure-cameras.
 * Do not expect arbitrary resolutions to work, the ISP and video compression
 * pipelines only support very specific resolutions.
 *
 * The default video compression mode is cqp or Constant Quantization Parameter
 *
 *
 *
 */
{
	"version":	0.1,
	"fsync_en":	true,
	"fsync_gpio":	109,
	"cameras":	[{
			"type":	"ar0144",
			"name":	"tracking_front",
			"enabled":	true,
			"camera_id":	0,
			"fps":	30,
			"en_rotate":	true,
			"en_preview":	true,
			"preview_width":	1280,
			"preview_height":	800,
			"en_raw_preview":	true,
			"en_misp":	true,
			"misp_width":	1280,
			"misp_height":	800,
			"misp_venc_enable":	false,
			"misp_venc_mode":	"h264",
			"misp_venc_br_ctrl":	"cqp",
			"misp_venc_Qfixed":	30,
			"misp_venc_Qmin":	15,
			"misp_venc_Qmax":	50,
			"misp_venc_nPframes":	29,
			"misp_venc_mbps":	2,
			"misp_venc_osd":	false,
			"misp_awb":	"auto",
			"ae_mode":	"lme_msv",
			"gain_min":	54,
			"gain_max":	8000,
			"ae_desired_msv":	60,
			"exposure_min_us":	20,
			"exposure_max_us":	12000,
			"exposure_soft_min_us":	5000,
			"ae_filter_alpha":	0.600000023841858,
			"ae_ignore_fraction":	0.20000000298023224,
			"ae_slope":	0.05000000074505806,
			"ae_exposure_period":	1,
			"ae_gain_period":	1
		}, {
			"type":	"imx412",
			"name":	"hires",
			"enabled":	true,
			"camera_id":	1,
			"fps":	30,
			"en_preview":	false,
			"preview_width":	640,
			"preview_height":	480,
			"en_raw_preview":	false,
			"en_small_video":	true,
			"small_video_width":	1024,
			"small_video_height":	768,
			"small_venc_mode":	"h264",
			"small_venc_br_ctrl":	"cqp",
			"small_venc_Qfixed":	30,
			"small_venc_Qmin":	15,
			"small_venc_Qmax":	40,
			"small_venc_nPframes":	9,
			"small_venc_mbps":	2,
			"small_venc_osd":	false,
			"en_large_video":	true,
			"large_video_width":	4056,
			"large_video_height":	3040,
			"large_venc_mode":	"h264",
			"large_venc_br_ctrl":	"cqp",
			"large_venc_Qfixed":	40,
			"large_venc_Qmin":	15,
			"large_venc_Qmax":	50,
			"large_venc_nPframes":	29,
			"large_venc_mbps":	40,
			"large_venc_osd":	false,
			"en_snapshot":	true,
			"en_snapshot_width":	4056,
			"en_snapshot_height":	3040,
			"exif_focal_length":	3.0999999046325684,
			"exif_focal_length_in_35mm_format":	17,
			"exif_fnumber":	1.2400000095367432,
			"ae_mode":	"isp",
			"gain_min":	54,
			"gain_max":	8000
		}, {
			"type":	"pmd-tof-liow2",
			"name":	"tof",
			"enabled":	true,
			"camera_id":	2,
			"fps":	10,
			"en_rotate":	true,
			"ae_mode":	"off",
			"gain_min":	0,
			"gain_max":	0,
			"exposure_max_us":	6000,
			"standby_enabled":	false,
			"decimator":	5
		}, {
			"type":	"ar0144",
			"name":	"tracking_down",
			"enabled":	true,
			"camera_id":	3,
			"fps":	30,
			"en_rotate":	false,
			"en_preview":	true,
			"preview_width":	1280,
			"preview_height":	800,
			"en_raw_preview":	true,
			"en_misp":	true,
			"misp_width":	1280,
			"misp_height":	800,
			"misp_venc_enable":	false,
			"misp_venc_mode":	"h264",
			"misp_venc_br_ctrl":	"cqp",
			"misp_venc_Qfixed":	30,
			"misp_venc_Qmin":	15,
			"misp_venc_Qmax":	50,
			"misp_venc_nPframes":	29,
			"misp_venc_mbps":	2,
			"misp_venc_osd":	false,
			"misp_awb":	"auto",
			"ae_mode":	"lme_msv",
			"gain_min":	54,
			"gain_max":	8000,
			"ae_desired_msv":	60,
			"exposure_min_us":	20,
			"exposure_max_us":	12000,
			"exposure_soft_min_us":	5000,
			"ae_filter_alpha":	0.600000023841858,
			"ae_ignore_fraction":	0.20000000298023224,
			"ae_slope":	0.05000000074505806,
			"ae_exposure_period":	1,
			"ae_gain_period":	1
		}]
}

@Beniamino-Pozzan Thank you so much for the info,
I wanted to try it and realised foxy has no support and with Ubuntu 18.04 on voxl-2 it is not possible to use any other ROS-2 installations easily. I will use ros2 plugin by keeping microdds as default middleware.
I hope newer ROS versions will be available for VOXL-2.

Hi I'm trying to use zenoh as middleware in my voxl-2 I can see it defaults to microdds. is there any support for zenoh by voxl-services.
I'm not able to build it from source for foxy. any suggestions on this?
thank you.