The Linux BSP PD15.2.0 for these kits does support the camera VM-010-BW-LVDS.
For support the other PHYTEC phyCAM-S(+) cameras you have to compile a new device tree.
PHYTEC has tested the following cameras:
* VM-011-COL(-LVDS)
* VM-011-BW(-LVDS)
* VM-010-COL(-LVDS)
* VM-010-BW(-LVDS)

Read the linux BSP datasheet for information to compile a new device tree.