@Jagatpreet-Nir

Were you able to find a resolution to this? We are also experiencing the exact same issue has you. IMU is coming in around 220 Hz and there is alot of dropped data and timestamp jumping. Check out this sample graph below.
imu-timestamp.png

@Patrick-Hinchey
hi patrick
did you manage to solve the tune problem ?
we king of facing same problem with our drone
any help will be appreciate

@Wei-Cui-0 Sure, it's just http traffic. You would have to parse on your own of course and reverse engineer from the source code here

The image streams are just standard mjpeg though, so those should be easy to grab

Tested on 1.12.2, seeing same issue

@Moderator That makes way more sense, thank you for the clarification
As far as I could understand, there is no text saying that the .conf for the extrinsics is only used for the voxl-mapper on the modalai.docs, I think that is where my confusion came from

@Ariel-Pomer
i forgot to mention i am using voxl-camera-server sdk-0.9

@hmlow But that probably only works for VIO mode. Not sure what it would do in GPS mode. So it isn't a fix that will be acceptable for general use. So it still needs more work but that is the heart of the issue.

@SMRazaRizvi A compass (magnetometer) and a GPS receiver are two completely separate sensors. GPS reception won't affect the compass.

@José-Quintanilla Was this solved? If yes, how?
I'm having a similar issue where the drone is constantly drifting towards its right/left (Mostly right, but sometimes left too)

@Vinny Great!
So happy to hear about that. Looking forwards to its availability on store soon.

Warm regards,
Jyothish.

@Moderator Here you go.

https://drive.google.com/drive/folders/1SHGs2EipV4wpoIZQzzzGKm-ze1DpTbI6?usp=drive_link

We're not really sure how we can help you. What are you trying to achieve? Is there a specific device you are trying to work with? The kernel should work as other Linux kernels, so if you have made this change elsewhere the steps should be similar

@Moderator Besides extracting out the libraries and running them on an ARM based computer, how else can we simulate VOXL's behaviour? From what I understand for HITL, we are only interfacing with voxl-px4 but not other services like voxl-vision-hub.

@James-Strawson Thanks for the reply! Now I am facing a new issue though, after I swapped the camera ids the calibration of the extrinsics is asking me to move the checkboard in only three locations instead of four, as a result the reprojection error keeps being high, is this a bug?

Result of the new extrinsics:

Calibrating Extrinsics 4 frames will be processed R [-0.2178154138909582, 0.5612314553199155, 0.7984833742984259; 0.6516188344157804, -0.5254512170251917, 0.5470776116433248; 0.7266012249550162, 0.6394687420712871, -0.2512576124371861] T [-0.5933205685053882; -0.3699353785761611; 0.8991646361380521] Re-projection error reported by stereoCalibrate: 71.628572 Detected horizontal stereo pair Distance between cameras: 0.5933 Extrinsics Calibration Failed exceeded allowable max reprojection error: 0.5

voxl-camer-server with ids already swapped, the stereo in question is stereo_rear,

{ "version": 0.1, "cameras": [{ "name": "tracking", "enabled": true, "frame_rate": 30, "type": "ov7251", "camera_id": 2, "ae_desired_msv": 60, "ae_filter_alpha": 0.600000023841858, "ae_ignore_fraction": 0.20000000298023224, "ae_slope": 0.05000000074505806, "ae_exposure_period": 1, "ae_gain_period": 1 }, { "name": "hires", "enabled": true, "frame_rate": 30, "type": "imx214", "camera_id": 3, "preview_width": 640, "preview_height": 480, "snapshot_width": 3840, "snapshot_height": 2160 }, { "name": "stereo_front", "enabled": true, "frame_rate": 30, "type": "ov7251", "camera_id": 0, "camera_id_second": 1, "independent_exposure": false, "ae_desired_msv": 60, "ae_filter_alpha": 0.600000023841858, "ae_ignore_fraction": 0.20000000298023224, "ae_slope": 0.05000000074505806, "ae_exposure_period": 1, "ae_gain_period": 1 }, { "name": "stereo_rear", "enabled": true, "frame_rate": 30, "type": "ov7251", "camera_id": 4, "camera_id_second": 5, "independent_exposure": false, "ae_desired_msv": 60, "ae_filter_alpha": 0.600000023841858, "ae_ignore_fraction": 0.20000000298023224, "ae_slope": 0.05000000074505806, "ae_exposure_period": 1, "ae_gain_period": 1 }] }

@Moderator thank you for the reply, by board I meant the checkboard used for the calibration not the PCB.

However, I watched the video, but it looks old because the current extrinsics procedure is asking me to move the checkboard in 4 poses whereas the video is showing only 2 poses. How much tilt should the checkboard have during the extrinsics calibration process in order to have a low calibration error?