Our software found on Gitlab is only licensed to run on ModalAI hardware. It is difficult for us to support hardware we did not build and do not have traceability on build quality and test.

We have not done a direct comparison. In general though, all of those systems typically achieve 1-1.5% drift over distance which is something we see pretty consistently with the qvio-server

thanks for your helping 😊

Hi Chad,

We are using the VOXL-Flight board with the tracking camera as the QVIO camera and also a SF20 Lidar as altitude range aid.

We wrote our VOXL code to enable the OffBoard mode, and in order to receive position local ned parameters (X, Y, Z, YAW) from a ground GUI application via the wifi medium.

We use your recommended PX4's indoor parameters and board's extrinsic for the VOXL-Flight board (with a tracking a position shift according to our camera emplacement / self mounted 45 degrees down).

We tried to suspend and resume the imu pipe in the QVIO server to solve the problem, and also disabled the vision possibility to perform hard reset of the QVIO and let our manual pilot deal with the drone in order to understand the problem and prevent unpredictable uncontrolled navigation

We also execute your QVIO inspection and print additional QVIO & position debug information
in a ssh terminals to the VOXL board.

We use station wifi's mode, and we get errors regardless the PX4 mode (position/ offboard, etc).

We try to rule the drone from the takeoff to the land using position commands & maximal MPC velocities (x,v,z,yaw) using the PX4 offboard mode in GPS denied environment.

Are you acquainted with this problem (problem only with the imu pipe side in the QVIO server)?

Thanks,

Erez

993cf791-fa28-467f-8f63-e908d1c29727-image.png

This now the only thing I get. So there is no intrinsics or extrinsics files for right/left/stereo & tracking. I will do the camera calibration then. Thanks

Hi,

We're still not sure what caused the scheduler issue, it was a new feature we were hoping to integrate into the stack when you found this bug but aren't able to right now. In the meantime we've pushed updated packages with these calls removed so that all of the packages can run as intended. If you update the packages via OPKG to latest there should be no issues with the scheduler.

@Matthew-Booker thank you! 🙏

Hi,

The MV library is made by qualcomm and has some licenses attached to it, we can't publish (and don't even have access to ourselves) the source code and have to keep the headers behind a EULA. Since both our voxl system images and docker build environments are behind said EULA, that's where we keep the header. It can be found in /usr/include/mv/ on both the voxl and the voxl-emulator docker image.

Anything with visual texture will improve performance. It does not have to be an AprilTag. Just anything with a non-repeating pattern

Hi @Matt-Turi,

Thank you very much for your clear answer. We will give this a try!
If you have any examples or more information on how to do this, please feel free.

@Steve-Turner - Yeah I have put EKF2_AID_MASK to 0. Then the drone would just be behaving normally.

@Cliff-Wong - I understand that I would have to disable qvio-server, if I would only fly in non-evdata modus. But when flying with evdata, if then the evdata goes bad, I need to switch to non-evdata to be able to save the drone from crashing. But now the drone will still crash!

@Steve-Turner
Thank you for your help.
I realize you are not part of the ModalAi Dev Team, but I would like to ask for your help with this.
There is more information that I have posted on this thread.
I am lost, and would really appreciate any kind of help you could provide.

Thank you.

You can't really tune the feature detection algorithm.

You can tune the exposure algorithm. You might try to increase ae_msv parameter in camera-server config to maybe add more contrast?

Thank you. I got the VIO going on the drone. I noticed that when running the VIO server, the IMU_BW error kept coming up and that was the cause of the server's crash. Therefore, I increased the limited_imu_bw_trigger parameter in the voxl-qvio-server.conf arbitrarily to 100 and it worked fine.