That was either in the L dev preview or 5.0.0, i don't remember. It seemed to be fixed in the latest patch prior to 5.1, though.
Sadly, it appears to be back in 5.1. Is there an open bug for this?
The bug is NOT because of Android.
The bug is that one of your APPS is poorly written, it is using the camera HAL and is not releasing it properly after use, as only one process can use the camera HAL at any given time.
Such culprit apps are usually video call apps (e.g. Skype), instant photo-sharing apps (e.g. Snapchat), flashlight apps, or a poorly written 3rd party camera app.
The timing out is likely to prevent you from burning out the flash, as it's main purpose only involves a brief flash, not continuous use.
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