diff --git a/driver/esp_camera.c b/driver/esp_camera.c
index 4dc8f5a443..4446284bbe 100644
--- a/driver/esp_camera.c
+++ b/driver/esp_camera.c
@@ -334,15 +334,21 @@ esp_err_t esp_camera_init(const camera_config_t *config)
     }
 
     s_state->sensor.status.framesize = frame_size;
-    s_state->sensor.pixformat = pix_format;
-
     ESP_LOGD(TAG, "Setting frame size to %dx%d", resolution[frame_size].width, resolution[frame_size].height);
     if (s_state->sensor.set_framesize(&s_state->sensor, frame_size) != 0) {
         ESP_LOGE(TAG, "Failed to set frame size");
         err = ESP_ERR_CAMERA_FAILED_TO_SET_FRAME_SIZE;
         goto fail;
     }
-    s_state->sensor.set_pixformat(&s_state->sensor, pix_format);
+
+    s_state->sensor.pixformat = pix_format;
+    ESP_LOGD(TAG, "Setting pixel format to %d", pix_format);
+    if (s_state->sensor.set_pixformat(&s_state->sensor, pix_format)) {
+        ESP_LOGE(TAG, "Failed to set pixel format");
+        err = ESP_ERR_CAMERA_FAILED_TO_SET_PIXEL_FORMAT;
+        goto fail;
+    }
+
 #if CONFIG_CAMERA_CONVERTER_ENABLED
     if(config->conv_mode) {
         s_state->sensor.pixformat = get_output_data_format(config->conv_mode); // If conversion enabled, change the out data format by conversion mode
diff --git a/driver/include/esp_camera.h b/driver/include/esp_camera.h
index fa2f24cda9..c4fb9fad13 100755
--- a/driver/include/esp_camera.h
+++ b/driver/include/esp_camera.h
@@ -170,10 +170,11 @@ typedef struct {
 } camera_fb_t;
 
 #define ESP_ERR_CAMERA_BASE 0x20000
-#define ESP_ERR_CAMERA_NOT_DETECTED             (ESP_ERR_CAMERA_BASE + 1)
-#define ESP_ERR_CAMERA_FAILED_TO_SET_FRAME_SIZE (ESP_ERR_CAMERA_BASE + 2)
-#define ESP_ERR_CAMERA_FAILED_TO_SET_OUT_FORMAT (ESP_ERR_CAMERA_BASE + 3)
-#define ESP_ERR_CAMERA_NOT_SUPPORTED            (ESP_ERR_CAMERA_BASE + 4)
+#define ESP_ERR_CAMERA_NOT_DETECTED                 (ESP_ERR_CAMERA_BASE + 1)
+#define ESP_ERR_CAMERA_FAILED_TO_SET_FRAME_SIZE     (ESP_ERR_CAMERA_BASE + 2)
+#define ESP_ERR_CAMERA_FAILED_TO_SET_PIXEL_FORMAT   (ESP_ERR_CAMERA_BASE + 3)
+#define ESP_ERR_CAMERA_FAILED_TO_SET_OUT_FORMAT     (ESP_ERR_CAMERA_BASE + 4)
+#define ESP_ERR_CAMERA_NOT_SUPPORTED                (ESP_ERR_CAMERA_BASE + 5)
 
 /**
  * @brief Initialize the camera driver