diff --git a/system/camerad/SConscript b/system/camerad/SConscript
index 8c016257dbd0e9b..62f94d5d623655a 100644
--- a/system/camerad/SConscript
+++ b/system/camerad/SConscript
@@ -5,7 +5,7 @@ libs = ['m', 'pthread', common, 'jpeg', 'OpenCL', 'yuv', cereal, messaging, 'zmq
 cenv = env.Clone()
 cenv['CPPPATH'].append('include/')
 
-camera_obj = cenv.Object(['cameras/camera_qcom2.cc', 'cameras/camera.cc', 'cameras/camera_ar0231.cc','cameras/camera_ox03c10.cc','cameras/camera_common.cc', 'cameras/camera_util.cc'])
+camera_obj = cenv.Object(['cameras/camera_qcom2.cc',   'cameras/camera_ar0231.cc','cameras/camera_ox03c10.cc','cameras/camera_common.cc', 'cameras/camera_util.cc'])
 cenv.Program('camerad', [
     'main.cc',
     camera_obj,
diff --git a/system/camerad/cameras/camera.cc b/system/camerad/cameras/camera.cc
deleted file mode 100644
index e71f69dffdac6bf..000000000000000
--- a/system/camerad/cameras/camera.cc
+++ /dev/null
@@ -1,129 +0,0 @@
-#include "system/camerad/cameras/camera.h"
-
-#include "common/swaglog.h"
-#include "system/camerad/cameras/camera_util.h"
-
-static cam_cmd_power *power_set_wait(cam_cmd_power *power, int16_t delay_ms) {
-  cam_cmd_unconditional_wait *unconditional_wait = (cam_cmd_unconditional_wait *)((char *)power + (sizeof(struct cam_cmd_power) + (power->count - 1) * sizeof(struct cam_power_settings)));
-  unconditional_wait->cmd_type = CAMERA_SENSOR_CMD_TYPE_WAIT;
-  unconditional_wait->delay = delay_ms;
-  unconditional_wait->op_code = CAMERA_SENSOR_WAIT_OP_SW_UCND;
-  return (struct cam_cmd_power *)(unconditional_wait + 1);
-};
-
-bool AbstractCamera::init(int video0_fd, int sensor_fd, int camera_num) {
-  // init memorymanager for this camera
-  mm.init(video0_fd);
-
-  uint32_t cam_packet_handle = 0;
-  int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*2;
-  struct cam_packet *pkt = (struct cam_packet *)mm.alloc(size, &cam_packet_handle);
-  pkt->num_cmd_buf = 2;
-  pkt->kmd_cmd_buf_index = -1;
-  pkt->header.op_code = 0x1000000 | CAM_SENSOR_PACKET_OPCODE_SENSOR_PROBE;
-  pkt->header.size = size;
-  struct cam_cmd_buf_desc *buf_desc = (struct cam_cmd_buf_desc *)&pkt->payload;
-
-  buf_desc[0].size = buf_desc[0].length = sizeof(struct cam_cmd_i2c_info) + sizeof(struct cam_cmd_probe);
-  buf_desc[0].type = CAM_CMD_BUF_LEGACY;
-  struct cam_cmd_i2c_info *i2c_info = (struct cam_cmd_i2c_info *)mm.alloc(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
-  auto probe = (struct cam_cmd_probe *)(i2c_info + 1);
-
-  probe->camera_id = camera_num;
-  i2c_info->slave_addr = getSlaveAddress(camera_num);
-
-  // 0(I2C_STANDARD_MODE) = 100khz, 1(I2C_FAST_MODE) = 400khz
-  //i2c_info->i2c_freq_mode = I2C_STANDARD_MODE;
-  i2c_info->i2c_freq_mode = I2C_FAST_MODE;
-  i2c_info->cmd_type = CAMERA_SENSOR_CMD_TYPE_I2C_INFO;
-
-  probe->data_type = CAMERA_SENSOR_I2C_TYPE_WORD;
-  probe->addr_type = CAMERA_SENSOR_I2C_TYPE_WORD;
-  probe->op_code = 3;   // don't care?
-  probe->cmd_type = CAMERA_SENSOR_CMD_TYPE_PROBE;
-  probe->reg_addr = reg_addr;
-  probe->expected_data = expected_data;
-  probe->data_mask = 0;
-
-  //buf_desc[1].size = buf_desc[1].length = 148;
-  buf_desc[1].size = buf_desc[1].length = 196;
-  buf_desc[1].type = CAM_CMD_BUF_I2C;
-  struct cam_cmd_power *power_settings = (struct cam_cmd_power *)mm.alloc(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle);
-  memset(power_settings, 0, buf_desc[1].size);
-
-  // power on
-  struct cam_cmd_power *power = power_settings;
-  power->count = 4;
-  power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_UP;
-  power->power_settings[0].power_seq_type = 3; // clock??
-  power->power_settings[1].power_seq_type = 1; // analog
-  power->power_settings[2].power_seq_type = 2; // digital
-  power->power_settings[3].power_seq_type = 8; // reset low
-  power = power_set_wait(power, 1);
-
-  // set clock
-  power->count = 1;
-  power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_UP;
-  power->power_settings[0].power_seq_type = 0;
-  power->power_settings[0].config_val_low = config_val_low;
-  power = power_set_wait(power, 1);
-
-  // reset high
-  power->count = 1;
-  power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_UP;
-  power->power_settings[0].power_seq_type = 8;
-  power->power_settings[0].config_val_low = 1;
-  // wait 650000 cycles @ 19.2 mhz = 33.8 ms
-  power = power_set_wait(power, 34);
-
-  // probe happens here
-
-  // disable clock
-  power->count = 1;
-  power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_DOWN;
-  power->power_settings[0].power_seq_type = 0;
-  power->power_settings[0].config_val_low = 0;
-  power = power_set_wait(power, 1);
-
-  // reset high
-  power->count = 1;
-  power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_DOWN;
-  power->power_settings[0].power_seq_type = 8;
-  power->power_settings[0].config_val_low = 1;
-  power = power_set_wait(power, 1);
-
-  // reset low
-  power->count = 1;
-  power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_DOWN;
-  power->power_settings[0].power_seq_type = 8;
-  power->power_settings[0].config_val_low = 0;
-  power = power_set_wait(power, 1);
-
-  // power off
-  power->count = 3;
-  power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_DOWN;
-  power->power_settings[0].power_seq_type = 2;
-  power->power_settings[1].power_seq_type = 1;
-  power->power_settings[2].power_seq_type = 3;
-
-  int ret = do_cam_control(sensor_fd, CAM_SENSOR_PROBE_CMD, (void *)(uintptr_t)cam_packet_handle, 0);
-  LOGD("probing the sensor: %d", ret);
-
-  mm.free(i2c_info);
-  mm.free(power_settings);
-  mm.free(pkt);
-
-  return ret == 0;
-}
-
-
-std::unique_ptr<AbstractCamera> AbstractCamera::initCamera(int video0_fd, int sensor_fd, int camera_num) {
-  std::unique_ptr<AbstractCamera> cam =  std::make_unique<CameraAR0231>();
-  if (!cam->init(video0_fd, sensor_fd, camera_num)) {
-    cam.reset(new CameraOX03C10());
-    if (!cam->init(video0_fd, sensor_fd, camera_num)) {
-      cam.reset(nullptr);
-    }
-  }
-  return cam;
-}
diff --git a/system/camerad/cameras/camera.h b/system/camerad/cameras/camera.h
index 11a1346a667762b..82c7c00c7365cd8 100644
--- a/system/camerad/cameras/camera.h
+++ b/system/camerad/cameras/camera.h
@@ -1,6 +1,5 @@
 #pragma once
 
-#include <cassert>
 #include <map>
 #include <mutex>
 #include <optional>
@@ -14,9 +13,6 @@
 #include "media/cam_sensor.h"
 #include "media/cam_sensor_cmn_header.h"
 #include "media/cam_sync.h"
-
-#include "common/util.h"
-#include "system/camerad/cameras/camera_util.h"
 #include "system/camerad/cameras/sensor2_i2c.h"
 
 #define CAMERA_ID_IMX298 0
@@ -49,12 +45,8 @@ class AbstractCamera {
   virtual ~AbstractCamera(){};
   virtual std::vector<struct i2c_random_wr_payload> getExposureVector(int new_g, bool dc_gain_enabled, int exposure_time, int dc_gain_weight) const = 0;
   virtual void processRegisters(void *addr, cereal::FrameData::Builder &framed) {}
-  virtual int getSlaveAddress(int port) = 0;
-  static std::unique_ptr<AbstractCamera> initCamera(int video0_fd, int sensor_fd, int camera_num);
 
   CameraInfo ci;
-  MemoryManager mm;
-
   int id;
   float dc_gain_factor;
   int dc_gain_max_weight;
@@ -68,15 +60,11 @@ class AbstractCamera {
   float min_ev, max_ev;
   int registers_offset = 0;
   float sensor_analog_gains[16];
-  uint32_t in_port_info_dt;
 
   camera_sensor_i2c_type i2c_type;
   std::vector<struct i2c_random_wr_payload> start_reg_array;
   std::vector<struct i2c_random_wr_payload> init_array;
-
-protected:
-  bool init(int video0_fd, int sensor_fd, int camera_num);
-
+  uint32_t in_port_info_dt;
   uint32_t reg_addr;
   uint32_t expected_data;
   uint32_t config_val_low;
@@ -86,7 +74,6 @@ class CameraAR0231 : public AbstractCamera {
 public:
   CameraAR0231();
   ~CameraAR0231();
-  int getSlaveAddress(int port) override;
   std::vector<struct i2c_random_wr_payload> getExposureVector(int new_g, bool dc_gain_enabled, int exposure_time, int dc_gain_weight) const override;
   void processRegisters(void *addr, cereal::FrameData::Builder &framed) override;
 
@@ -100,6 +87,5 @@ class CameraOX03C10 : public AbstractCamera {
 public:
   CameraOX03C10();
   ~CameraOX03C10();
-  int getSlaveAddress(int port) override;
   std::vector<struct i2c_random_wr_payload> getExposureVector(int new_g, bool dc_gain_enabled, int exposure_time, int dc_gain_weight) const override;
 };
diff --git a/system/camerad/cameras/camera_ar0231.cc b/system/camerad/cameras/camera_ar0231.cc
index 98fb37c3cc3d9d9..d478353a9eb0e50 100644
--- a/system/camerad/cameras/camera_ar0231.cc
+++ b/system/camerad/cameras/camera_ar0231.cc
@@ -64,11 +64,6 @@ CameraAR0231::~CameraAR0231() {
 
 }
 
-int CameraAR0231::getSlaveAddress(int port) {
-  assert(port >=0 && port <= 2);
-  return (int[]){0x20, 0x30, 0x20}[port];
-}
-
 std::vector<struct i2c_random_wr_payload> CameraAR0231::getExposureVector(int new_g, bool dc_gain_enabled, int exposure_time, int dc_gain_weight) const {
   uint16_t analog_gain_reg = 0xFF00 | (new_g << 4) | new_g;
   return {
diff --git a/system/camerad/cameras/camera_ox03c10.cc b/system/camerad/cameras/camera_ox03c10.cc
index 3763c6d87e10580..b80c041803449bd 100644
--- a/system/camerad/cameras/camera_ox03c10.cc
+++ b/system/camerad/cameras/camera_ox03c10.cc
@@ -52,11 +52,6 @@ CameraOX03C10::CameraOX03C10() {
 CameraOX03C10::~CameraOX03C10() {
 }
 
-int CameraOX03C10::getSlaveAddress(int port) {
-  assert(port >=0 && port <= 2);
-  return (int[]){0x6C, 0x20, 0x6C}[port];
-}
-
 std::vector<struct i2c_random_wr_payload> CameraOX03C10::getExposureVector(int new_g, bool dc_gain_enabled, int exposure_time, int dc_gain_weight) const {
   static constexpr uint32_t ox03c10_analog_gains_reg[] = {
       0x100, 0x140, 0x150, 0x190,
diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index 20e62352a4ab359..4b66774881b3f6b 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -43,7 +43,7 @@ void CameraState::sensors_start() {
 void CameraState::sensors_poke(int request_id) {
   uint32_t cam_packet_handle = 0;
   int size = sizeof(struct cam_packet);
-  struct cam_packet *pkt = (struct cam_packet *)camera->mm.alloc(size, &cam_packet_handle);
+  struct cam_packet *pkt = (struct cam_packet *)mm.alloc(size, &cam_packet_handle);
   pkt->num_cmd_buf = 0;
   pkt->kmd_cmd_buf_index = -1;
   pkt->header.size = size;
@@ -57,14 +57,14 @@ void CameraState::sensors_poke(int request_id) {
     return;
   }
 
-  camera->mm.free(pkt);
+  mm.free(pkt);
 }
 
 void CameraState::sensors_i2c(struct i2c_random_wr_payload* dat, int len, int op_code, camera_sensor_i2c_type i2c_type) {
   // LOGD("sensors_i2c: %d", len);
   uint32_t cam_packet_handle = 0;
   int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*1;
-  struct cam_packet *pkt = (struct cam_packet *)camera->mm.alloc(size, &cam_packet_handle);
+  struct cam_packet *pkt = (struct cam_packet *)mm.alloc(size, &cam_packet_handle);
   pkt->num_cmd_buf = 1;
   pkt->kmd_cmd_buf_index = -1;
   pkt->header.size = size;
@@ -74,7 +74,7 @@ void CameraState::sensors_i2c(struct i2c_random_wr_payload* dat, int len, int op
   buf_desc[0].size = buf_desc[0].length = sizeof(struct i2c_rdwr_header) + len*sizeof(struct i2c_random_wr_payload);
   buf_desc[0].type = CAM_CMD_BUF_I2C;
 
-  struct cam_cmd_i2c_random_wr *i2c_random_wr = (struct cam_cmd_i2c_random_wr *)camera->mm.alloc(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
+  struct cam_cmd_i2c_random_wr *i2c_random_wr = (struct cam_cmd_i2c_random_wr *)mm.alloc(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
   i2c_random_wr->header.count = len;
   i2c_random_wr->header.op_code = 1;
   i2c_random_wr->header.cmd_type = CAMERA_SENSOR_CMD_TYPE_I2C_RNDM_WR;
@@ -89,8 +89,131 @@ void CameraState::sensors_i2c(struct i2c_random_wr_payload* dat, int len, int op
     return;
   }
 
-  camera->mm.free(i2c_random_wr);
-  camera->mm.free(pkt);
+  mm.free(i2c_random_wr);
+  mm.free(pkt);
+}
+
+static cam_cmd_power *power_set_wait(cam_cmd_power *power, int16_t delay_ms) {
+  cam_cmd_unconditional_wait *unconditional_wait = (cam_cmd_unconditional_wait *)((char *)power + (sizeof(struct cam_cmd_power) + (power->count - 1) * sizeof(struct cam_power_settings)));
+  unconditional_wait->cmd_type = CAMERA_SENSOR_CMD_TYPE_WAIT;
+  unconditional_wait->delay = delay_ms;
+  unconditional_wait->op_code = CAMERA_SENSOR_WAIT_OP_SW_UCND;
+  return (struct cam_cmd_power *)(unconditional_wait + 1);
+};
+
+int CameraState::sensors_init(int camera_id) {
+  uint32_t cam_packet_handle = 0;
+  int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*2;
+  struct cam_packet *pkt = (struct cam_packet *)mm.alloc(size, &cam_packet_handle);
+  pkt->num_cmd_buf = 2;
+  pkt->kmd_cmd_buf_index = -1;
+  pkt->header.op_code = 0x1000000 | CAM_SENSOR_PACKET_OPCODE_SENSOR_PROBE;
+  pkt->header.size = size;
+  struct cam_cmd_buf_desc *buf_desc = (struct cam_cmd_buf_desc *)&pkt->payload;
+
+  buf_desc[0].size = buf_desc[0].length = sizeof(struct cam_cmd_i2c_info) + sizeof(struct cam_cmd_probe);
+  buf_desc[0].type = CAM_CMD_BUF_LEGACY;
+  struct cam_cmd_i2c_info *i2c_info = (struct cam_cmd_i2c_info *)mm.alloc(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
+  auto probe = (struct cam_cmd_probe *)(i2c_info + 1);
+
+  probe->camera_id = camera_num;
+  switch (camera_num) {
+    case 0:
+      // port 0
+      i2c_info->slave_addr = (camera_id == CAMERA_ID_AR0231) ? 0x20 : 0x6C; // 6C = 0x36*2
+      break;
+    case 1:
+      // port 1
+      i2c_info->slave_addr = (camera_id == CAMERA_ID_AR0231) ? 0x30 : 0x20;
+      break;
+    case 2:
+      // port 2
+      i2c_info->slave_addr = (camera_id == CAMERA_ID_AR0231) ? 0x20 : 0x6C;
+      break;
+  }
+
+  // 0(I2C_STANDARD_MODE) = 100khz, 1(I2C_FAST_MODE) = 400khz
+  //i2c_info->i2c_freq_mode = I2C_STANDARD_MODE;
+  i2c_info->i2c_freq_mode = I2C_FAST_MODE;
+  i2c_info->cmd_type = CAMERA_SENSOR_CMD_TYPE_I2C_INFO;
+
+  probe->data_type = CAMERA_SENSOR_I2C_TYPE_WORD;
+  probe->addr_type = CAMERA_SENSOR_I2C_TYPE_WORD;
+  probe->op_code = 3;   // don't care?
+  probe->cmd_type = CAMERA_SENSOR_CMD_TYPE_PROBE;
+  probe->reg_addr = camera->reg_addr;
+  probe->expected_data = camera->expected_data;
+  probe->data_mask = 0;
+
+  //buf_desc[1].size = buf_desc[1].length = 148;
+  buf_desc[1].size = buf_desc[1].length = 196;
+  buf_desc[1].type = CAM_CMD_BUF_I2C;
+  struct cam_cmd_power *power_settings = (struct cam_cmd_power *)mm.alloc(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle);
+  memset(power_settings, 0, buf_desc[1].size);
+
+  // power on
+  struct cam_cmd_power *power = power_settings;
+  power->count = 4;
+  power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_UP;
+  power->power_settings[0].power_seq_type = 3; // clock??
+  power->power_settings[1].power_seq_type = 1; // analog
+  power->power_settings[2].power_seq_type = 2; // digital
+  power->power_settings[3].power_seq_type = 8; // reset low
+  power = power_set_wait(power, 1);
+
+  // set clock
+  power->count = 1;
+  power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_UP;
+  power->power_settings[0].power_seq_type = 0;
+  power->power_settings[0].config_val_low = camera->config_val_low;
+  power = power_set_wait(power, 1);
+
+  // reset high
+  power->count = 1;
+  power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_UP;
+  power->power_settings[0].power_seq_type = 8;
+  power->power_settings[0].config_val_low = 1;
+  // wait 650000 cycles @ 19.2 mhz = 33.8 ms
+  power = power_set_wait(power, 34);
+
+  // probe happens here
+
+  // disable clock
+  power->count = 1;
+  power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_DOWN;
+  power->power_settings[0].power_seq_type = 0;
+  power->power_settings[0].config_val_low = 0;
+  power = power_set_wait(power, 1);
+
+  // reset high
+  power->count = 1;
+  power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_DOWN;
+  power->power_settings[0].power_seq_type = 8;
+  power->power_settings[0].config_val_low = 1;
+  power = power_set_wait(power, 1);
+
+  // reset low
+  power->count = 1;
+  power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_DOWN;
+  power->power_settings[0].power_seq_type = 8;
+  power->power_settings[0].config_val_low = 0;
+  power = power_set_wait(power, 1);
+
+  // power off
+  power->count = 3;
+  power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_DOWN;
+  power->power_settings[0].power_seq_type = 2;
+  power->power_settings[1].power_seq_type = 1;
+  power->power_settings[2].power_seq_type = 3;
+
+  int ret = do_cam_control(sensor_fd, CAM_SENSOR_PROBE_CMD, (void *)(uintptr_t)cam_packet_handle, 0);
+  LOGD("probing the sensor: %d", ret);
+
+  mm.free(i2c_info);
+  mm.free(power_settings);
+  mm.free(pkt);
+
+  return ret;
 }
 
 void CameraState::config_isp(int io_mem_handle, int fence, int request_id, int buf0_mem_handle, int buf0_offset) {
@@ -99,7 +222,7 @@ void CameraState::config_isp(int io_mem_handle, int fence, int request_id, int b
   if (io_mem_handle != 0) {
     size += sizeof(struct cam_buf_io_cfg);
   }
-  struct cam_packet *pkt = (struct cam_packet *)camera->mm.alloc(size, &cam_packet_handle);
+  struct cam_packet *pkt = (struct cam_packet *)mm.alloc(size, &cam_packet_handle);
   pkt->num_cmd_buf = 2;
   pkt->kmd_cmd_buf_index = 0;
   // YUV has kmd_cmd_buf_offset = 1780
@@ -194,7 +317,7 @@ void CameraState::config_isp(int io_mem_handle, int fence, int request_id, int b
   buf_desc[1].length = buf_desc[1].size - buf_desc[1].offset;
   buf_desc[1].type = CAM_CMD_BUF_GENERIC;
   buf_desc[1].meta_data = CAM_ISP_PACKET_META_GENERIC_BLOB_COMMON;
-  uint32_t *buf2 = (uint32_t *)camera->mm.alloc(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle);
+  uint32_t *buf2 = (uint32_t *)mm.alloc(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle);
   memcpy(buf2, &tmp, sizeof(tmp));
 
   if (io_mem_handle != 0) {
@@ -230,8 +353,8 @@ void CameraState::config_isp(int io_mem_handle, int fence, int request_id, int b
     LOGE("isp config failed");
   }
 
-  camera->mm.free(buf2);
-  camera->mm.free(pkt);
+  mm.free(buf2);
+  mm.free(pkt);
 }
 
 void CameraState::enqueue_buffer(int i, bool dp) {
@@ -346,12 +469,21 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num
   LOGD("opened sensor for %d", camera_num);
 
   // init memorymanager for this camera
-  camera->mm.init(multi_cam_state->video0_fd);
+  mm.init(multi_cam_state->video0_fd);
 
   // probe the sensor
   LOGD("-- Probing sensor %d", camera_num);
-  camera = AbstractCamera::initCamera(multi_cam_state_->video0_fd, sensor_fd, camera_num);
-
+  ret = sensors_init(CAMERA_ID_AR0231);
+  if (ret != 0) {
+    // TODO: use build flag instead?
+    LOGD("AR0231 init failed, trying OX03C10");
+    ret = sensors_init(CAMERA_ID_OX03C10);
+    if (ret == 0) {
+      camera = std::make_unique<CameraOX03C10>();
+    }
+  } else {
+    camera = std::make_unique<CameraAR0231>();
+  }
   LOGD("-- Probing sensor %d done with %d", camera_num, ret);
   if (ret != 0) {
     LOGE("** sensor %d FAILED bringup, disabling", camera_num);
@@ -452,7 +584,7 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num
   {
     uint32_t cam_packet_handle = 0;
     int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*1;
-    struct cam_packet *pkt = (struct cam_packet *)camera->mm.alloc(size, &cam_packet_handle);
+    struct cam_packet *pkt = (struct cam_packet *)mm.alloc(size, &cam_packet_handle);
     pkt->num_cmd_buf = 1;
     pkt->kmd_cmd_buf_index = -1;
     pkt->header.size = size;
@@ -461,7 +593,7 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num
     buf_desc[0].size = buf_desc[0].length = sizeof(struct cam_csiphy_info);
     buf_desc[0].type = CAM_CMD_BUF_GENERIC;
 
-    struct cam_csiphy_info *csiphy_info = (struct cam_csiphy_info *)camera->mm.alloc(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
+    struct cam_csiphy_info *csiphy_info = (struct cam_csiphy_info *)mm.alloc(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
     csiphy_info->lane_mask = 0x1f;
     csiphy_info->lane_assign = 0x3210;// skip clk. How is this 16 bit for 5 channels??
     csiphy_info->csiphy_3phase = 0x0; // no 3 phase, only 2 conductors per lane
@@ -474,8 +606,8 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num
     int ret_ = device_config(csiphy_fd, session_handle, csiphy_dev_handle, cam_packet_handle);
     assert(ret_ == 0);
 
-    camera->mm.free(csiphy_info);
-    camera->mm.free(pkt);
+    mm.free(csiphy_info);
+    mm.free(pkt);
   }
 
   // link devices
diff --git a/system/camerad/cameras/camera_qcom2.h b/system/camerad/cameras/camera_qcom2.h
index f957f1a4cd3143f..400383278aac71b 100644
--- a/system/camerad/cameras/camera_qcom2.h
+++ b/system/camerad/cameras/camera_qcom2.h
@@ -66,6 +66,7 @@ class CameraState {
   bool skipped;
 
   CameraBuf buf;
+  MemoryManager mm;
 
 private:
   void config_isp(int io_mem_handle, int fence, int request_id, int buf0_mem_handle, int buf0_offset);