Hello @Jeremy-Schmidt,

Thank you for getting back to me. I did review the material and the youtube video.

I think I solved the issue. It looks like you can't Arm when its plugged into the wall. I put a battery in and it Armed. Makes sense for safety reasons.

Regards,

berrios1

Either way, here are the parameters:

Onboard parameters for Vehicle 1 Stack: PX4 Pro Vehicle: Multi-Rotor Version: -1.-1.-1 Git Revision: Vehicle-Id Component-Id Name Value Type

1 1 BAT_A_PER_V -1.000000000000000000 9
1 1 BAT_CAPACITY 3000.000000000000000000 9
1 1 BAT_CRIT_THR 0.100000001490116119 9
1 1 BAT_EMERGEN_THR 0.050000000745058060 9
1 1 BAT_LOW_THR 0.150000005960464478 9
1 1 BAT_N_CELLS 4 6
1 1 BAT_R_INTERNAL 0.008000000379979610 9
1 1 BAT_V_CHARGED 4.150000095367431641 9
1 1 BAT_V_DIV -1.000000000000000000 9
1 1 BAT_V_EMPTY 3.500000000000000000 9
1 1 BAT_V_LOAD_DROP 0.300000011920928955 9
1 1 CAL_ACC0_EN 1 6
1 1 CAL_ACC0_ID 3604490 6
1 1 CAL_ACC0_XOFF 0.059445858001708984 9
1 1 CAL_ACC0_XSCALE 1.002034664154052734 9
1 1 CAL_ACC0_YOFF -0.037360191345214844 9
1 1 CAL_ACC0_YSCALE 1.048591136932373047 9
1 1 CAL_ACC0_ZOFF 0.124116420745849609 9
1 1 CAL_ACC0_ZSCALE 1.001806497573852539 9
1 1 CAL_ACC1_EN 1 6
1 1 CAL_ACC1_ID 6684978 6
1 1 CAL_ACC1_XOFF -0.014957427978515625 9
1 1 CAL_ACC1_XSCALE 0.991375982761383057 9
1 1 CAL_ACC1_YOFF 0.013669013977050781 9
1 1 CAL_ACC1_YSCALE 0.999107122421264648 9
1 1 CAL_ACC1_ZOFF -0.099353790283203125 9
1 1 CAL_ACC1_ZSCALE 0.997102022171020508 9
1 1 CAL_ACC_PRIME 3604490 6
1 1 CAL_AIR_CMODEL 0 6
1 1 CAL_AIR_TUBED_MM 1.500000000000000000 9
1 1 CAL_AIR_TUBELEN 0.200000002980232239 9
1 1 CAL_BARO_PRIME 0 6
1 1 CAL_GYRO0_EN 1 6
1 1 CAL_GYRO0_ID 3670026 6
1 1 CAL_GYRO0_XOFF -0.028911003842949867 9
1 1 CAL_GYRO0_XSCALE 1.000000000000000000 9
1 1 CAL_GYRO0_YOFF -0.003973788581788540 9
1 1 CAL_GYRO0_YSCALE 1.000000000000000000 9
1 1 CAL_GYRO0_ZOFF -0.006329277995973825 9
1 1 CAL_GYRO0_ZSCALE 1.000000000000000000 9
1 1 CAL_GYRO1_EN 1 6
1 1 CAL_GYRO1_ID 6684722 6
1 1 CAL_GYRO1_XOFF -0.001032053143717349 9
1 1 CAL_GYRO1_XSCALE 1.000000000000000000 9
1 1 CAL_GYRO1_YOFF 0.000725572986993939 9
1 1 CAL_GYRO1_YSCALE 1.000000000000000000 9
1 1 CAL_GYRO1_ZOFF 0.000557725084945560 9
1 1 CAL_GYRO1_ZSCALE 1.000000000000000000 9
1 1 CAL_GYRO_PRIME 3670026 6
1 1 CAL_MAG0_EN 1 6
1 1 CAL_MAG0_ID 396809 6
1 1 CAL_MAG0_ROT 0 6
1 1 CAL_MAG0_XOFF -0.001764138112775981 9
1 1 CAL_MAG0_XSCALE 0.991770327091217041 9
1 1 CAL_MAG0_YOFF -0.018588325008749962 9
1 1 CAL_MAG0_YSCALE 1.037336945533752441 9
1 1 CAL_MAG0_ZOFF -0.011217652820050716 9
1 1 CAL_MAG0_ZSCALE 1.031741142272949219 9
1 1 CAL_MAG1_ID 0 6
1 1 CAL_MAG1_ROT -1 6
1 1 CAL_MAG2_ID 0 6
1 1 CAL_MAG2_ROT -1 6
1 1 CAL_MAG3_ID 0 6
1 1 CAL_MAG3_ROT -1 6
1 1 CAL_MAG_PRIME 396809 6
1 1 CAL_MAG_SIDES 63 6
1 1 CAM_CAP_FBACK 0 6
1 1 CBRK_AIRSPD_CHK 0 6
1 1 CBRK_BUZZER 0 6
1 1 CBRK_ENGINEFAIL 284953 6
1 1 CBRK_FLIGHTTERM 121212 6
1 1 CBRK_GPSFAIL 0 6
1 1 CBRK_IO_SAFETY 22027 6
1 1 CBRK_RATE_CTRL 0 6
1 1 CBRK_SUPPLY_CHK 0 6
1 1 CBRK_USB_CHK 0 6
1 1 CBRK_VELPOSERR 0 6
1 1 COM_ARM_AUTH 256010 6
1 1 COM_ARM_CHK_ESCS 0 6
1 1 COM_ARM_IMU_ACC 0.699999988079071045 9
1 1 COM_ARM_IMU_GYR 0.250000000000000000 9
1 1 COM_ARM_MAG_ANG 45 6
1 1 COM_ARM_MIS_REQ 0 6
1 1 COM_ARM_SWISBTN 0 6
1 1 COM_ARM_WO_GPS 1 6
1 1 COM_ASPD_FS_ACT 0 6
1 1 COM_ASPD_FS_DLY 0 6
1 1 COM_ASPD_STALL 10.000000000000000000 9
1 1 COM_DISARM_LAND 2.000000000000000000 9
1 1 COM_DISARM_PRFLT 10.000000000000000000 9
1 1 COM_DL_LOSS_T 10 6
1 1 COM_EF_C2T 5.000000000000000000 9
1 1 COM_EF_THROT 0.500000000000000000 9
1 1 COM_EF_TIME 10.000000000000000000 9
1 1 COM_FLIGHT_UUID 29 6
1 1 COM_FLTMODE1 0 6
1 1 COM_FLTMODE2 2 6
1 1 COM_FLTMODE3 3 6
1 1 COM_FLTMODE4 -1 6
1 1 COM_FLTMODE5 -1 6
1 1 COM_FLTMODE6 -1 6
1 1 COM_FLT_PROFILE 0 6
1 1 COM_HLDL_LOSS_T 120 6
1 1 COM_HLDL_REG_T 0 6
1 1 COM_HOME_H_T 5.000000000000000000 9
1 1 COM_HOME_V_T 10.000000000000000000 9
1 1 COM_LOW_BAT_ACT 0 6
1 1 COM_OA_BOOT_T 100 6
1 1 COM_OBL_ACT 0 6
1 1 COM_OBL_RC_ACT 0 6
1 1 COM_OBS_AVOID 0 6
1 1 COM_OF_LOSS_T 0.000000000000000000 9
1 1 COM_POSCTL_NAVL 0 6
1 1 COM_POS_FS_DELAY 1 6
1 1 COM_POS_FS_EPH 5.000000000000000000 9
1 1 COM_POS_FS_EPV 10.000000000000000000 9
1 1 COM_POS_FS_GAIN 10 6
1 1 COM_POS_FS_PROB 30 6
1 1 COM_PREARM_MODE 1 6
1 1 COM_RC_ARM_HYST 1000 6
1 1 COM_RC_IN_MODE 0 6
1 1 COM_RC_LOSS_T 0.500000000000000000 9
1 1 COM_RC_OVERRIDE 1 6
1 1 COM_RC_STICK_OV 12.000000000000000000 9
1 1 COM_TAKEOFF_ACT 0 6
1 1 COM_TAS_FS_INNOV 1.000000000000000000 9
1 1 COM_TAS_FS_INTEG -1.000000000000000000 9
1 1 COM_TAS_FS_T1 3 6
1 1 COM_TAS_FS_T2 100 6
1 1 COM_VEL_FS_EVH 1.000000000000000000 9
1 1 CP_DELAY 0.000000000000000000 9
1 1 CP_DIST -1.000000000000000000 9
1 1 CP_GO_NO_DATA 1.000000000000000000 9
1 1 CP_GUIDE_ANG 0.000000000000000000 9
1 1 DSHOT_CONFIG 600 6
1 1 DSHOT_MIN 0.054999999701976776 9
1 1 DSHOT_TEL_CFG 0 6
1 1 EKF2_ABIAS_INIT 0.200000002980232239 9
1 1 EKF2_ABL_ACCLIM 25.000000000000000000 9
1 1 EKF2_ABL_GYRLIM 3.000000000000000000 9
1 1 EKF2_ABL_LIM 0.400000005960464478 9
1 1 EKF2_ABL_TAU 0.500000000000000000 9
1 1 EKF2_ACC_B_NOISE 0.003000000026077032 9
1 1 EKF2_ACC_NOISE 0.349999994039535522 9
1 1 EKF2_AID_MASK 280 6
1 1 EKF2_ANGERR_INIT 0.100000001490116119 9
1 1 EKF2_ARSP_THR 0.000000000000000000 9
1 1 EKF2_ASPD_MAX 20.000000000000000000 9
1 1 EKF2_ASP_DELAY 100.000000000000000000 9
1 1 EKF2_AVEL_DELAY 5.000000000000000000 9
1 1 EKF2_BARO_DELAY 0.000000000000000000 9
1 1 EKF2_BARO_GATE 5.000000000000000000 9
1 1 EKF2_BARO_NOISE 2.000000000000000000 9
1 1 EKF2_BCOEF_X 25.000000000000000000 9
1 1 EKF2_BCOEF_Y 25.000000000000000000 9
1 1 EKF2_BETA_GATE 5.000000000000000000 9
1 1 EKF2_BETA_NOISE 0.300000011920928955 9
1 1 EKF2_DECL_TYPE 7 6
1 1 EKF2_DRAG_NOISE 2.500000000000000000 9
1 1 EKF2_EAS_NOISE 1.399999976158142090 9
1 1 EKF2_EVA_NOISE 0.050000000745058060 9
1 1 EKF2_EVP_GATE 25.000000000000000000 9
1 1 EKF2_EVP_NOISE 0.019999999552965164 9
1 1 EKF2_EVV_GATE 25.000000000000000000 9
1 1 EKF2_EVV_NOISE 0.019999999552965164 9
1 1 EKF2_EV_DELAY 0.000000000000000000 9
1 1 EKF2_EV_NOISE_MD 0 6
1 1 EKF2_EV_POS_X 0.000000000000000000 9
1 1 EKF2_EV_POS_Y 0.000000000000000000 9
1 1 EKF2_EV_POS_Z 0.000000000000000000 9
1 1 EKF2_FUSE_BETA 0 6
1 1 EKF2_GBIAS_INIT 0.100000001490116119 9
1 1 EKF2_GND_EFF_DZ 0.000000000000000000 9
1 1 EKF2_GND_MAX_HGT 0.500000000000000000 9
1 1 EKF2_GPS_CHECK 245 6
1 1 EKF2_GPS_DELAY 110.000000000000000000 9
1 1 EKF2_GPS_MASK 0 6
1 1 EKF2_GPS_POS_X 0.000000000000000000 9
1 1 EKF2_GPS_POS_Y 0.000000000000000000 9
1 1 EKF2_GPS_POS_Z 0.000000000000000000 9
1 1 EKF2_GPS_P_GATE 5.000000000000000000 9
1 1 EKF2_GPS_P_NOISE 0.500000000000000000 9
1 1 EKF2_GPS_TAU 10.000000000000000000 9
1 1 EKF2_GPS_V_GATE 5.000000000000000000 9
1 1 EKF2_GPS_V_NOISE 0.500000000000000000 9
1 1 EKF2_GYR_B_NOISE 0.001000000047497451 9
1 1 EKF2_GYR_NOISE 0.014999999664723873 9
1 1 EKF2_HDG_GATE 2.599999904632568359 9
1 1 EKF2_HEAD_NOISE 0.300000011920928955 9
1 1 EKF2_HGT_MODE 3 6
1 1 EKF2_IMU_POS_X -0.020999999716877937 9
1 1 EKF2_IMU_POS_Y -0.015499999746680260 9
1 1 EKF2_IMU_POS_Z -0.008000000379979610 9
1 1 EKF2_MAGBIAS_ID 396809 6
1 1 EKF2_MAGBIAS_X 0.000000000000000000 9
1 1 EKF2_MAGBIAS_Y 0.000000000000000000 9
1 1 EKF2_MAGBIAS_Z 0.000000000000000000 9
1 1 EKF2_MAGB_K 0.200000002980232239 9
1 1 EKF2_MAGB_VREF 0.000000249999999369 9
1 1 EKF2_MAG_ACCLIM 0.500000000000000000 9
1 1 EKF2_MAG_B_NOISE 0.000099999997473788 9
1 1 EKF2_MAG_DECL 0.000000000000000000 9
1 1 EKF2_MAG_DELAY 0.000000000000000000 9
1 1 EKF2_MAG_E_NOISE 0.001000000047497451 9
1 1 EKF2_MAG_GATE 3.000000000000000000 9
1 1 EKF2_MAG_NOISE 0.050000000745058060 9
1 1 EKF2_MAG_TYPE 0 6
1 1 EKF2_MAG_YAWLIM 0.250000000000000000 9
1 1 EKF2_MIN_OBS_DT 20 6
1 1 EKF2_MIN_RNG 0.100000001490116119 9
1 1 EKF2_MOVE_TEST 1.000000000000000000 9
1 1 EKF2_NOAID_NOISE 10.000000000000000000 9
1 1 EKF2_NOAID_TOUT 5000000 6
1 1 EKF2_OF_DELAY 5.000000000000000000 9
1 1 EKF2_OF_GATE 3.000000000000000000 9
1 1 EKF2_OF_N_MAX 0.500000000000000000 9
1 1 EKF2_OF_N_MIN 0.150000005960464478 9
1 1 EKF2_OF_POS_X 0.000000000000000000 9
1 1 EKF2_OF_POS_Y 0.000000000000000000 9
1 1 EKF2_OF_POS_Z 0.000000000000000000 9
1 1 EKF2_OF_QMIN 1 6
1 1 EKF2_PCOEF_XN 0.000000000000000000 9
1 1 EKF2_PCOEF_XP 0.000000000000000000 9
1 1 EKF2_PCOEF_YN 0.000000000000000000 9
1 1 EKF2_PCOEF_YP 0.000000000000000000 9
1 1 EKF2_PCOEF_Z 0.000000000000000000 9
1 1 EKF2_REQ_EPH 3.000000000000000000 9
1 1 EKF2_REQ_EPV 5.000000000000000000 9
1 1 EKF2_REQ_GDOP 2.500000000000000000 9
1 1 EKF2_REQ_GPS_H 10.000000000000000000 9
1 1 EKF2_REQ_HDRIFT 0.100000001490116119 9
1 1 EKF2_REQ_NSATS 6 6
1 1 EKF2_REQ_SACC 0.500000000000000000 9
1 1 EKF2_REQ_VDRIFT 0.200000002980232239 9
1 1 EKF2_RNG_AID 0 6
1 1 EKF2_RNG_A_HMAX 5.000000000000000000 9
1 1 EKF2_RNG_A_IGATE 1.000000000000000000 9
1 1 EKF2_RNG_A_VMAX 1.000000000000000000 9
1 1 EKF2_RNG_DELAY 5.000000000000000000 9
1 1 EKF2_RNG_GATE 5.000000000000000000 9
1 1 EKF2_RNG_NOISE 0.100000001490116119 9
1 1 EKF2_RNG_PITCH 0.000000000000000000 9
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1 1 EKF2_RNG_POS_Y 0.000000000000000000 9
1 1 EKF2_RNG_POS_Z 0.000000000000000000 9
1 1 EKF2_RNG_SFE 0.050000000745058060 9
1 1 EKF2_TAS_GATE 3.000000000000000000 9
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1 1 EKF2_TAU_VEL 0.250000000000000000 9
1 1 EKF2_TERR_GRAD 0.500000000000000000 9
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1 1 FD_FAIL_R 60 6
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1 1 GF_MAX_VER_DIST 0.000000000000000000 9
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1 1 LNDMC_FFALL_THR 2.000000000000000000 9
1 1 LNDMC_FFALL_TTRI 0.300000011920928955 9
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1 1 LND_FLIGHT_T_LO 2129038641 6
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1 1 MAV_2_CONFIG 103 6
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1 1 MAV_COMP_ID 1 6
1 1 MAV_FWDEXTSP 1 6
1 1 MAV_HASH_CHK_EN 1 6
1 1 MAV_HB_FORW_EN 1 6
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I'm going to assume you know about the Docker examples at:
https://gitlab.com/voxl-public/voxl-docker-images

Will any of those help?

-Todd

Got it. Thanks.

@Daniel-Ryu Yes, the serial number will start with an M and is 11 digits long

One could use a gaming joystick connected to QGroundControl through a laptop to fly the drone. This does not allow for the same level of precision as a typical R/C transmitter .

Both MAVROS or MAVSDK can be used to programmatically fly the drone. This requires very advanced skill and should still be used with an R/C transmitter for safety functionality.

Flying drones can be dangerous. Please review our article on safety and be careful!

I've gone further down the rabbit hole and see now that the tag detections update the fixed frame, as does the fixed_pose_input sink, which as far as I can tell does not get used and is setup for alternative fixed frame references. I also see now that the setpoints get converted in the uart_mavlink.c file from fixed to local frame, and when no april tags are used this keeps the value the same. This being said, it seems that, when april tags are not used, the setpoints and the vio position are both set in local frame. If I am understanding this correctly, I should be able to set my home position to T_body_wrt_local before sending the home position as a setpoint in offboard mode, but the drone seems to always move to some other location. Can you please clarify what my misunderstaning is in this case, if any?

I tried to recreate this with a simple little test_time program but it behaves as expected:

#include <stdio.h> #include <time.h> void main() { time_t t = time(NULL); struct tm datetime = *localtime(&t); printf("time:\n"); printf("%d-%d-%d_%d-%d-%d\n", datetime.tm_year+1900,datetime.tm_mon+1, datetime.tm_mday,datetime.tm_hour,datetime.tm_min,datetime.tm_sec); printf("DONE\n"); return; }

the result of starting this manually and from a systemd service is the same.

Aug 03 17:52:43 apq8096 systemd[1]: Starting test_time... Aug 03 17:52:44 apq8096 systemd[1]: Started test_time. Aug 03 17:52:44 apq8096 test_time[4238]: time: Aug 03 17:52:44 apq8096 test_time[4238]: 2021-8-3_17-52-44 Aug 03 17:52:44 apq8096 test_time[4238]: DONE

Note that if you run this on boot then it will likely run before establishing an internet connection and fetching a date and time from either GPS or an NTP server. VOXL will not remember the date and time between reboots.

Also, modifying VVPX4 to log VIO data is an unnecessarily difficult way of going about this. It's also unsafe to write to a file in the same flight-critical thread that's sending PX4 high-rate commands. There is a tool called voxl-logger that likely does what you need, and would be safer to modify to do what you need than messing with VVPX4.

yocto:/etc/systemd/system$ voxl-logger -h Tool to save data published through Modal Pipe Architecture to disk. By default, this saves images to /data/voxl-logger/ since the /data/ parition is the largest partition on VOXL. You can change this with the -d argument. -c, --cam {name} name of a camera to log, e.g. tracking -d, --directory {dir} name of the directory to save the log to, default is /data/voxl-logger/ if argument is not provided. -i, --imu {name} name of an imu to log, e.g. imu1. -k, --skip {n_to_skip} number of samples to skip between logged samples -h, --help print this help message -n, --note {note} optionally add a very short note to the end of the log directory name, e.g. flight_with_new_motors -o, --preset_odometry record a preset log containing qvio, tracking cam and both IMUs for testing VIO. This can be used with other pipes. -s, --samples {samples} maximum samples to save for one specific channel, otherwise it will run untill you quit the program. -t, --time {seconds} time to log for in seconds. -v, --vio {name} name of a vio pipe to log, e.g. qvio -z, --debug enable verbose debug mode typical uses: To log one camera image: yocto:/# voxl-logger --cam tracking --samples 1 To log 5000 imu samples: yocto:/# voxl-logger -i imu1 -s 5000 --note "primary imu test" To log 1000 imu0 samples and 2000 imu1 samples: yocto:/# voxl-logger -i imu0 -s 1000 -i imu1 -s 2000 To log every 5th imu sample (skip 4) for 5.5 seconds: yocto:/# voxl-logger -i imu1 --skip 4 -t 5.5 To log tracking camera and both imus until you press ctrl-c yocto:/# voxl-logger --preset_odometry To record a typical log for testing VIO (imu + tracking) for 1 minute yocto:/# voxl-logger --preset_odometry --time 60 --note "log for vio replay test 1"

Here is the source code if you are curious, but it is installed by default as part of voxl-suite so you can use it out of the box. Note, we haven't used this tool in a while so if you find a bug/regression please let us know.

https://gitlab.com/voxl-public/modal-pipe-architecture/voxl-mpa-tools/-/blob/master/tools/voxl-logger.cpp

Best,
James

@Dat-Tran-Huynh You can use a USB gaming joystick (Like those from Logitech) and QGroundControl to control the drone over WiFi without an RC transmitter / receiver from your laptop.

Thank you for your reply. I have checked the code link that you shared, and Could I know the shared code runs in companion computer(based on linux) or the processor in PX4? What's more, currently I have a Motion Capture(Optitrack), and they provide a python SDK for data streaming. Is it possible that I run the python code to get the pose data of quadcopter and then integrate it with vio_manager.c ?

Another question is that is there a display device interface in companion computer(based on linux)? I really want to do programming in graphical Linux interface

Thanks Matt, that did the trick 👌

In the parameters list, check for "dshot_config". Our most recent M500's use dshot 600.

You can see an example of how to write telemetry on top of a video frame here
https://gitlab.com/voxl-public/modal-pipe-architecture/voxl-qvio-server/-/blob/master/server/main.cpp#L715

SDIO Card Specification version 3.0, 4-bit, up to 2TB 🙂

Hi Prasanth, you should be able to find how to connect to ESCs, GPS, and other peripherals here: https://docs.modalai.com/flight-core-connections/

That page is relevant for both Flight Core independently and integrated with VOXL on VOXL Flight

Got the problem sorted out.

%YAML:1.0 M: !!opencv-matrix rows: 3 cols: 3 dt: d data: [ 2.7874039916528164e+02, 0., 3.3988271378331154e+02, 0., 2.7880227185614154e+02, 2.5258101356853410e+02, 0., 0., 1. ] D: !!opencv-matrix rows: 4 cols: 1 dt: d data: [ -1.4185703635329491e-02, 2.1172901376532889e-02, -1.4431453715214168e-02, 3.4931558175981398e-03 ] width: 640. height: 480. distortion_model: fisheye

Cheers

I reran the calibration outdoors with gps signal and far from any metal. I also raised the drone to be ~3-4' from the metal turntable below it. This improved the calibration quite a bit and the drone is not drifting as much as before. However, there still seems to be more drift in the VIO than there was when I first received the drone. I still don't have the PWM_MIN parameter that the docs say I should check for the assure the PX4 parameters loaded properly. I see that this parameter is in the custom2.params file, but the note in the document says it turns off the gps.

Can you please explain the steps you go through during your calibration process? Should I also be loading this custom2.params file? If so, does that mean that gps is not used when in VIO (no sensor fusion etc)?

If you're interested in Python and MAV SDK, you should start here: http://docs.modalai.com/mavsdk