@modaltb Thankyou so much for the quick eyes on this! We owe you some beers!

@SMRazaRizvi of course the VIO pose should be correct when you move the drone. can you screen capture the qvio overlay to demonstrate your issue?

@Moderator Thanks, I will try it. Although the temperature will reach 80°C, there has been no shutdown at this temperature. The temperature wasn't high when the problem occurred. So if the problem occurs and I want to view the system logs or use DBG_UART12 at J3 PIN-OUT of voxl2 to check. What can I do? Simon

@Erik-Priest Yes, an adapter should be all you need

@frafrat Try out voxl-configure-cameras 21 which is labeled "old C6" We screwed up the C6 config when moving from SDK 0.9.5 to SDK 1.0.0 21 should be equivalent to the old 6

I did a very quick and dummy workaround to fix the problem, most of the changes are in geometry.c in the following snippet of code: int geometry_calc_R_T_tag_in_local_frame(int64_t frame_timestamp_ns, rc_matrix_t R_tag_to_cam, rc_vector_t T_tag_wrt_cam, rc_matrix_t *R_tag_to_local, rc_vector_t *T_tag_wrt_local, char* input_pipe) { // these "correct" values are from the past aligning to the timestamp static rc_matrix_t correct_R_imu_to_vio = RC_MATRIX_INITIALIZER; static rc_vector_t correct_T_imu_wrt_vio = RC_VECTOR_INITIALIZER; int ret = rc_tf_ringbuf_get_tf_at_time(&vio_ringbuf, frame_timestamp_ns, &correct_R_imu_to_vio, &correct_T_imu_wrt_vio); // fail silently, on catastrophic failure the previous function would have // printed a message. If ret==-2 that's a soft failure meaning we just don't // have enough vio data yet, so also return silently. if (ret < 0) return -1; pthread_mutex_lock(&tf_mutex); // Read extrinsics parameters int n; vcc_extrinsic_t t[VCC_MAX_EXTRINSICS_IN_CONFIG]; vcc_extrinsic_t tmp; // now load in extrinsics if (vcc_read_extrinsic_conf_file(VCC_EXTRINSICS_PATH, t, &n, VCC_MAX_EXTRINSICS_IN_CONFIG)) { return -1; } // Initialize camera matrices rc_matrix_t R_cam_to_imu_tmp = RC_MATRIX_INITIALIZER; rc_matrix_t R_cam_to_body = RC_MATRIX_INITIALIZER; rc_vector_t T_cam_wrt_imu_tmp = RC_VECTOR_INITIALIZER; rc_vector_t T_cam_wrt_body = RC_VECTOR_INITIALIZER; rc_vector_zeros(&T_cam_wrt_body, 3); rc_vector_zeros(&T_cam_wrt_imu_tmp, 3); rc_matrix_identity(&R_cam_to_imu_tmp, 3); rc_matrix_identity(&R_cam_to_body, 3); printf("input_pipe: %s \n", input_pipe); if (strcmp(input_pipe, "stereo_front") == 0) { // Pick out IMU to Body. config.c already set this up for imu1 so just leave it as is if (vcc_find_extrinsic_in_array("body", "stereo_front_l", t, n, &tmp)) { fprintf(stderr, "ERROR: %s missing body to stereo_front_l, sticking with identity for now\n", VCC_EXTRINSICS_PATH); return -1; } rc_rotation_matrix_from_tait_bryan(tmp.RPY_parent_to_child[0] * DEG_TO_RAD, tmp.RPY_parent_to_child[1] * DEG_TO_RAD, tmp.RPY_parent_to_child[2] * DEG_TO_RAD, &R_cam_to_body); rc_vector_from_array(&T_cam_wrt_body, tmp.T_child_wrt_parent, 3); T_cam_wrt_imu_tmp.d[0] = T_cam_wrt_body.d[0] - T_imu_wrt_body.d[0]; T_cam_wrt_imu_tmp.d[1] = T_cam_wrt_body.d[1] - T_imu_wrt_body.d[1]; T_cam_wrt_imu_tmp.d[2] = T_cam_wrt_body.d[2] - T_imu_wrt_body.d[2]; rc_matrix_multiply(R_body_to_imu, R_cam_to_body, &R_cam_to_imu_tmp); printf("RPY: \n%5.2f %5.2f %5.2f\n\n", tmp.RPY_parent_to_child[0], tmp.RPY_parent_to_child[1],tmp.RPY_parent_to_child[2]); printf("R_cam_to_imu_tmp: \n%5.2f %5.2f %5.2f\n %5.2f %5.2f %5.2f\n %5.2f %5.2f %5.2f\n\n", R_cam_to_imu_tmp.d[0][0], R_cam_to_imu_tmp.d[0][1], R_cam_to_imu_tmp.d[0][2], R_cam_to_imu_tmp.d[1][0], R_cam_to_imu_tmp.d[1][1], R_cam_to_imu_tmp.d[1][2], R_cam_to_imu_tmp.d[2][0], R_cam_to_imu_tmp.d[2][1], R_cam_to_imu_tmp.d[2][2]); // calculate position of tag wrt local rc_matrix_times_col_vec(R_cam_to_imu_tmp, T_tag_wrt_cam, T_tag_wrt_local); rc_vector_sum_inplace(T_tag_wrt_local, T_cam_wrt_imu_tmp); rc_matrix_times_col_vec_inplace(correct_R_imu_to_vio, T_tag_wrt_local); rc_vector_sum_inplace(T_tag_wrt_local, correct_T_imu_wrt_vio); rc_matrix_times_col_vec_inplace(R_vio_to_local, T_tag_wrt_local); rc_vector_sum_inplace(T_tag_wrt_local, T_vio_ga_wrt_local); // calculate rotation tag to local rc_matrix_multiply(R_cam_to_imu_tmp, R_tag_to_cam, R_tag_to_local); rc_matrix_left_multiply_inplace(correct_R_imu_to_vio, R_tag_to_local); rc_matrix_left_multiply_inplace(R_vio_to_local, R_tag_to_local); } else if (strcmp(input_pipe, "stereo_rear") == 0) { // Pick out IMU to Body. config.c already set this up for imu1 so just leave it as is if (vcc_find_extrinsic_in_array("body", "stereo_rear_l", t, n, &tmp)) { fprintf(stderr, "ERROR: %s missing body to stereo_rear_l, sticking with identity for now\n", VCC_EXTRINSICS_PATH); return -1; } rc_rotation_matrix_from_tait_bryan(tmp.RPY_parent_to_child[0] * DEG_TO_RAD, tmp.RPY_parent_to_child[1] * DEG_TO_RAD, tmp.RPY_parent_to_child[2] * DEG_TO_RAD, &R_cam_to_body); rc_vector_from_array(&T_cam_wrt_body, tmp.T_child_wrt_parent, 3); T_cam_wrt_imu_tmp.d[0] = T_cam_wrt_body.d[0] - T_imu_wrt_body.d[0]; T_cam_wrt_imu_tmp.d[1] = T_cam_wrt_body.d[1] - T_imu_wrt_body.d[1]; T_cam_wrt_imu_tmp.d[2] = T_cam_wrt_body.d[2] - T_imu_wrt_body.d[2]; rc_matrix_multiply(R_body_to_imu, R_cam_to_body, &R_cam_to_imu_tmp); printf("R_cam_to_imu_tmp: \n%5.2f %5.2f %5.2f\n %5.2f %5.2f %5.2f\n %5.2f %5.2f %5.2f\n\n", R_cam_to_imu_tmp.d[0][0], R_cam_to_imu_tmp.d[0][1], R_cam_to_imu_tmp.d[0][2], R_cam_to_imu_tmp.d[1][0], R_cam_to_imu_tmp.d[1][1], R_cam_to_imu_tmp.d[1][2], R_cam_to_imu_tmp.d[2][0], R_cam_to_imu_tmp.d[2][1], R_cam_to_imu_tmp.d[2][2]); // calculate position of tag wrt local rc_matrix_times_col_vec(R_cam_to_imu_tmp, T_tag_wrt_cam, T_tag_wrt_local); rc_vector_sum_inplace(T_tag_wrt_local, T_cam_wrt_imu_tmp); rc_matrix_times_col_vec_inplace(correct_R_imu_to_vio, T_tag_wrt_local); rc_vector_sum_inplace(T_tag_wrt_local, correct_T_imu_wrt_vio); rc_matrix_times_col_vec_inplace(R_vio_to_local, T_tag_wrt_local); rc_vector_sum_inplace(T_tag_wrt_local, T_vio_ga_wrt_local); // calculate rotation tag to local rc_matrix_multiply(R_cam_to_imu_tmp, R_tag_to_cam, R_tag_to_local); rc_matrix_left_multiply_inplace(correct_R_imu_to_vio, R_tag_to_local); rc_matrix_left_multiply_inplace(R_vio_to_local, R_tag_to_local); } else if (strcmp(input_pipe, "tracking") == 0) { printf("R_cam_to_imu: \n%5.2f %5.2f %5.2f\n %5.2f %5.2f %5.2f\n %5.2f %5.2f %5.2f\n\n", R_cam_to_imu.d[0][0], R_cam_to_imu.d[0][1], R_cam_to_imu.d[0][2], R_cam_to_imu.d[1][0], R_cam_to_imu.d[1][1], R_cam_to_imu.d[1][2], R_cam_to_imu.d[2][0], R_cam_to_imu.d[2][1], R_cam_to_imu.d[2][2]); // calculate position of tag wrt local rc_matrix_times_col_vec(R_cam_to_imu, T_tag_wrt_cam, T_tag_wrt_local); rc_vector_sum_inplace(T_tag_wrt_local, T_cam_wrt_imu); rc_matrix_times_col_vec_inplace(correct_R_imu_to_vio, T_tag_wrt_local); rc_vector_sum_inplace(T_tag_wrt_local, correct_T_imu_wrt_vio); rc_matrix_times_col_vec_inplace(R_vio_to_local, T_tag_wrt_local); rc_vector_sum_inplace(T_tag_wrt_local, T_vio_ga_wrt_local); // calculate rotation tag to local rc_matrix_multiply(R_cam_to_imu, R_tag_to_cam, R_tag_to_local); rc_matrix_left_multiply_inplace(correct_R_imu_to_vio, R_tag_to_local); rc_matrix_left_multiply_inplace(R_vio_to_local, R_tag_to_local); } printf("\n__________________________________________________________________________\n"); pthread_mutex_unlock(&tf_mutex); return 0; }

@SMRazaRizvi You have to setup GPS and make EKF Aid mask use GPS, and I don't think using GPS will give you odometry data, you might get some sort of global position which helps you hold position and navigate

@Vinny Thanks for this info this is super helpful. I 100% agree about the last thing you said and if I can use the ModalAI power adapter then I definitely will. I got the 7.4V spec by assuming nominal 2S battery voltage to nominal 6S, which was probably a bad assumption. Even so, a 2S battery from dead to full charge is typically 6.4V to 8.4V so I figured 5V input was probably not sufficient for the power module as it was not in the range of 2S to 6S. Seems like this may not be the case though which is excellent

@Steve-Turner cat /sys/bus/soc/devices/soc0/serial_number is unique and will be unchanged after a factory flash. That is what we use internally in our prod line as a board UID

@lfierz , excellent! I am glad that it worked

Hi @Kashish-Garg unfortunately no update on this side

@Karrthik-Gk SDK 1.1.1 for voxl 1 includes PX4 v1.14 for flight core. I would recommend starting there

@Jw0719 hi, we're not familiar with that specific capability. Flight Core v2 is fairly stock PX4 though, so if PX4 supports it Flight Core should support it

@tom Installing the VOXL1 SDK now... Thanks!

@kerct did you remove the GPS? It is showing errors related to GPS You can upload your PX4 log to logs.px4.io and it will likely tell you

@황인호 We're not sure how you would define regular cables. You can find the specs for MCBL-00068 here: https://docs.modalai.com/cable-datasheets/#mcbl-00068