@Hector-Gutierrez thanks for the suggestion. However, I have now seen this unstable behavior in all modes (manual, altitude, position and offboard), both indoor and outdoors. I suspect that qvio is failing and trying to reset mid flight (Error: Not stationary was observed multiple times on the qvio_overlay page on VOXL portal). I don't think the GPS is even being used (QGC reports 100 HDOP and 0 satellites). The only mode where the UAV is controllable is Manual, but the qvio error is still present.

@Alex-Kushleyev would you be able to share some insight into what could be happening? How can we resolve this issue?

Thanks,
George

I am having the exact same issue, if by any chance you see this @lakbit can you let me know if you found a solution since this thread?

You might have both qvio and openvins running? That could lead to issues. Only one should be running at a time

have you looked through the troubleshooting guide? https://docs.modalai.com/flying-with-vio/#troubleshooting-vio

Usually looking at the ovins-overlay in voxl-portal offers good insight

The common issues are vibration is too high, the extrinsics are incorrect or there are not enough features to track in the environment

@Alex-Kushleyev , thanks! We'll give it a try and let you know how it goes.

@Muqing-Cao said in Integrating lidar sensor:

About using another state estimation source, can you suggest me how to do that? Say we can get lidar-based position estimate in ROS message, can we disable the onboard VIO and feed our position estimate to the onboard flight controller through MAVROS or something else? Please advise.

Please help advise on this question, thanks

@Aryananand We have a lot of customers using Starling 2 for warehouse inspection type flights, that would be my recommendation

@Eric-Katzfey never mind about the cable, I found them on Amazon...

@saegsali These are all of the param files loaded on Starling 2 (D0014) by default:

https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-px4-params/-/blob/master/scripts/voxl-configure-px4-params?ref_type=heads#L89

They can be found here, organized by folder:
https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-px4-params/-/tree/master/params/v1.14?ref_type=heads

If anyone is struggling to find the pMDDL2450 info that arrives with the Starling 2 Max + Microhard option (mine didn't come with any documentation) here is the RF configuration. By default the Max arrived with the radio turned off. I have paired mine with a pMDDL2450-ENC module connected to a laptop running QGround / MissionPlanner.

One way to access the settings without having an external radio module to pair is ssh port forwarding. Make sure you're connected to the drone / have setup your VOXL WIFI settings then ssh into the VOXL using ssh -L 8443:192.168.168.1:443 root@192.168.8.1

You can then access the microhard landing page at https://localhost:8443

My pMDDL2450 has the following default settings for the radio:

c59d1c08-fd0f-4ce9-b40e-ec413952ce4d-image.png