# 5. Camera Integration

### 5.1 Supported Cameras Matrix

The following table reflects the accurate camera support status as of JetPack 5.1.2:

<table><thead><tr><th width="177.428466796875">Camera</th><th width="137.000244140625">Interface</th><th width="114.9996337890625">Status</th><th>Notes</th></tr></thead><tbody><tr><td>OV9281</td><td>CSI 2-lane</td><td><mark style="color:$primary;background-color:$primary;"><strong>Default</strong></mark></td><td>Enabled by default in standard flash</td></tr><tr><td>IMX477</td><td>CSI 2-lane /<br>4-lane</td><td><mark style="color:$primary;background-color:$primary;"><strong>Default</strong></mark></td><td>Enabled by default; 4-lane on DCS2</td></tr><tr><td>IMX219</td><td>CSI 2-lane</td><td><mark style="color:$success;background-color:$success;"><strong>Supported</strong></mark></td><td>Config_6 required; use dtb from Airvolute (see below)</td></tr><tr><td>Allied Vision Alvium</td><td>CSI 4-lane</td><td><mark style="color:$success;background-color:$success;"><strong>Supported</strong></mark></td><td>Config_7 (AVT config); 2-lane on DCS1, 4-lane on DCS2</td></tr><tr><td>e-con CAM80_CUNX</td><td>CSI</td><td><mark style="color:$success;background-color:$success;"><strong>Supported</strong></mark></td><td>e-con driver also supports eimx290, ar0521, eimx415</td></tr><tr><td>e-con<br>e-CAM25_CUONX</td><td>CSI</td><td><mark style="color:$warning;background-color:$warning;"><strong>Not supported</strong></mark></td><td>Different sensor from supported CAM80; DIY driver integration required</td></tr><tr><td>FLIR Hadron 640R</td><td>CSI + USB</td><td><mark style="color:$success;background-color:$success;"><strong>Supported</strong></mark></td><td>G-Hadron adapter board required; EXT_VSYNC available via jumper pads</td></tr><tr><td>FLIR Boson (standalone)</td><td>USB</td><td><mark style="color:$warning;background-color:$warning;"><strong>Not supported</strong></mark></td><td>Standard Linux USB camera integration; not an Airvolute camera</td></tr><tr><td>Sony ILX-LR1 /<br>IP cameras</td><td>Network /<br>USB</td><td><mark style="color:$info;background-color:$info;"><strong>Customer integration</strong></mark></td><td>No device tree required if stream is not opened on Jetson</td></tr></tbody></table>

CSI interface count: DCS2 Pilot supports 2× 2-lane CSI and 1× 4-lane CSI. The 4-lane connector cannot be split into two 2-lane connections. The documentation listing 4 CSI cameras is incorrect.

***

### 5.2 IMX219 Camera Setup

The IMX219 is not active in the default flash. To enable it:

1. Flash with the standard config (not the AVT config): python3 dcs\_deploy.py flash orin\_nx 512 2.0 nvme full
2. Download the pre-compiled IMX219 device tree binary from Airvolute support (tegra234-p3767-0000-p3509-a02.dtb for CAM0 connector)
3. Place the file in /boot/dtb/ (not /boot/ — a common mistake):

```
sudo cp tegra234-p3767-0000-p3509-a02.dtb /boot/dtb/tegra234-p3767-0000-p3509-a02.dtb
```

4. Reboot. The nv\_imx219 kernel module will load automatically.
5. Verify: ls /dev/video\*

{% hint style="info" %}
**Note:**

Do not use /opt/nvidia/jetson-io/jetson-io.py for camera configuration — this tool is not supported on DroneCore boards and will not work correctly.
{% endhint %}

***

### 5.3 GStreamer Pipeline Quickstart

GStreamer is the recommended framework for camera streaming and processing on the Jetson. Three approaches in order of complexity:

#### CLI (prototyping)

```
# Basic display pipeline (HDMI out)
gst-launch-1.0 nvarguscamerasrc sensor-id=0 \
  ! 'video/x-raw(memory:NVMM),width=1920,height=1080,framerate=30/1' \
  ! nvvidconv ! nvdrmvideosink
 
# UDP stream to GCS
gst-launch-1.0 nvarguscamerasrc sensor-id=0 \
  ! 'video/x-raw(memory:NVMM),width=1280,height=720,framerate=30/1' \
  ! nvvidconv ! nvv4l2h265enc ! rtph265pay ! udpsink host=192.168.1.100 port=5600
```

#### Python (moderate control)

Use the GStreamer Python bindings (gst-python) with GstApp or appsink to access individual frames for processing with OpenCV. Attach a probe callback to the pipeline to overlay text or shapes.

#### C++ (production)

Use the GStreamer C API for lowest latency. Refer to NVIDIA's Accelerated GStreamer documentation and the av-stribog-cam repository (gitlab.com/airvolute\_oss/dronecore.os/av-stribog-cam) for reference implementations.

***

### 5.4 FLIR Hadron EXT\_VSYNC Hardware Trigger

The Hadron expansion board provides access to the EXT\_VSYNC pin for hardware-triggered image capture. This pin is not labelled on the expansion board silkscreen. To enable it:

* Locate the two solder pads on the expansion board that enable EXT\_VSYNC (consult the 3D model in the Hadron adapter documentation — pads are marked in the top-facing view)
* Bridge the pads with a solder jumper
* The EXT\_VSYNC signal is then accessible on the EO connector and the Boson connector as labelled in the 3D model detail views


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