@SKA , thank you for providing all the information. We are doing more testing and will get back to you. So far cannot reproduce.

Alex

can you please check output of ifconfig ? i wonder if wlan0 is not the primary interface for some reason

@SKA ,

I have the same same error, but wifi is working (/etc/network/interfaces: No such file or directory).

I also see that your dhcp client is able to get an ip address 10.10.10.116 for wlan0, which is strange that you don't see that ip address in ifconfig..

@SKA , can you also please check journalctl -u dhcpcd to see if there is anything interesting there?

Apr 03 18:10:27 m0054 systemd[1]: Starting LSB: IPv4 DHCP client with IPv4LL support...
Apr 03 18:10:27 m0054 dhcpcd[1982]: grep: /etc/network/interfaces: No such file or directory
Apr 03 18:10:28 m0054 dhcpcd[2095]: DUID 00:01:00:01:2b:93:59:dc:ea:a6:9f:04:b1:61
Apr 03 18:10:28 m0054 dhcpcd[2095]: wlan0: IAID ca:b3:a4:ec
Apr 03 18:10:28 m0054 dhcpcd[2095]: wlan0: adding address fe80::10c0:dcc6:145e:c4cd
Apr 03 18:10:28 m0054 dhcpcd[2095]: bond0: waiting for carrier
Apr 03 18:10:28 m0054 dhcpcd[2095]: dummy0: waiting for carrier
Apr 03 18:10:28 m0054 dhcpcd[2095]: wlan0: carrier lost
Apr 03 18:10:28 m0054 dhcpcd[2095]: wlan0: deleting address fe80::10c0:dcc6:145e:c4cd
Apr 03 18:10:28 m0054 dhcpcd[2095]: wlan0: carrier acquired
Apr 03 18:10:28 m0054 dhcpcd[2095]: wlan0: IAID ca:b3:a4:ec
Apr 03 18:10:28 m0054 dhcpcd[2095]: wlan0: adding address fe80::10c0:dcc6:145e:c4cd
Apr 03 18:10:28 m0054 dhcpcd[2095]: wlan0: carrier lost
Apr 03 18:10:28 m0054 dhcpcd[2095]: wlan0: deleting address fe80::10c0:dcc6:145e:c4cd
Apr 03 18:10:28 m0054 dhcpcd[2095]: dummy0: carrier acquired
Apr 03 18:10:28 m0054 dhcpcd[2095]: dummy0: IAID 5b:b6:cf:20
Apr 03 18:10:28 m0054 dhcpcd[2095]: dummy0: adding address fe80::8837:2803:320d:3a20
Apr 03 18:10:29 m0054 dhcpcd[2095]: dummy0: soliciting a DHCP lease
Apr 03 18:10:29 m0054 dhcpcd[2095]: dummy0: soliciting an IPv6 router
Apr 03 18:10:34 m0054 dhcpcd[2095]: wlan0: carrier acquired
Apr 03 18:10:34 m0054 dhcpcd[2095]: wlan0: IAID ca:b3:a4:ec
Apr 03 18:10:35 m0054 dhcpcd[2095]: wlan0: soliciting an IPv6 router
Apr 03 18:10:35 m0054 dhcpcd[2095]: wlan0: rebinding lease of 192.168.10.179
Apr 03 18:10:35 m0054 dhcpcd[2095]: wlan0: probing address 192.168.10.179/24
Apr 03 18:10:40 m0054 dhcpcd[2095]: wlan0: leased 192.168.10.179 for 7200 seconds
Apr 03 18:10:40 m0054 dhcpcd[2095]: wlan0: adding route to 192.168.10.0/24
Apr 03 18:10:40 m0054 dhcpcd[2095]: wlan0: adding default route via 192.168.10.1
Apr 03 18:10:40 m0054 dhcpcd[2095]: forked to background, child pid 2755
Apr 03 18:10:40 m0054 systemd[1]: Started LSB: IPv4 DHCP client with IPv4LL support.
Apr 03 18:10:41 m0054 dhcpcd[2755]: dummy0: no IPv6 Routers available

@SKA , please check the output of syslog, it may contain a hint as to why wlan0 has a static ip, maybe dhcpcd is not working properly.

Also, here is output of tail -n 100 /var/log/syslog:

Apr  3 18:17:22 m0054 dhcpcd[2755]: wlan0: carrier lost
Apr  3 18:17:22 m0054 wpa_supplicant[1996]: wlan0: CTRL-EVENT-DISCONNECTED bssid=5c:e9:31:0a:78:23 reason=3 locally_generated=1
Apr  3 18:17:22 m0054 kernel: [  402.693093] RTW: rtw_ndev_uninit(wlan0) if1
Apr  3 18:17:22 m0054 systemd[1]: Starting Load/Save RF Kill Switch Status...
Apr  3 18:17:22 m0054 systemd-rfkill[4368]: Failed to open device rfkill3: No such device
Apr  3 18:17:22 m0054 systemd[1]: Started Load/Save RF Kill Switch Status.
Apr  3 18:17:22 m0054 dhcpcd[2755]: wlan0: deleting address fe80::5c1e:5176:405d:82d8
Apr  3 18:17:22 m0054 dhcpcd[2755]: wlan0: deleting default route via 192.168.10.1
Apr  3 18:17:22 m0054 dhcpcd[2755]: wlan0: deleting route to 192.168.10.0/24
Apr  3 18:17:22 m0054 dhcpcd[2755]: wlan0: removing interface
Apr  3 18:17:29 m0054 kernel: [  409.880457] usb 1-1: new high-speed USB device number 5 using xhci-hcd
Apr  3 18:17:30 m0054 kernel: [  410.369086] RTW: HW EFUSE
Apr  3 18:17:30 m0054 kernel: [  410.369100] RTW: 0x000: 29 81 00 BC  09 00 21 00  6E 04 A4 34  10 00 30 0B  
Apr  3 18:17:30 m0054 kernel: [  410.369142] RTW: 0x010: 26 26 26 26  26 26 27 27  27 27 27 13  FF FF FF FF  
Apr  3 18:17:30 m0054 kernel: [  410.369221] RTW: 0x030: 13 FF FF FF  FF FF E0 FF  FF FF 28 28  28 28 28 28  
Apr  3 18:17:30 m0054 kernel: [  410.369299] RTW: 0x050: FF FF FF FF  FF FF FF FF  FF FF FF FF  FF FF FF FF  
Apr  3 18:17:30 m0054 kernel: [  410.369377] RTW: 0x070: FF FF FF FF  FF FF FF FF  FF FF FF FF  FF FF FF FF  
Apr  3 18:17:30 m0054 kernel: [  410.369454] RTW: 0x090: FF FF FF FF  FF FF FF FF  FF FF FF FF  FF FF FF FF  
Apr  3 18:17:30 m0054 kernel: [  410.369532] RTW: 0x0B0: FF FF FF FF  FF FF FF FF  7F 1A 1B 00  FF FF FF FF  
Apr  3 18:17:30 m0054 kernel: [  410.369609] RTW: 0x0D0: FF FF FF FF  FF FF FF FF  FF FF FF FF  FF FF FF FF  
Apr  3 18:17:30 m0054 kernel: [  410.369687] RTW: 0x0F0: FF FF FF FF  FF FF FF FF  FF FF FF FF  FF FF FF FF  
Apr  3 18:17:30 m0054 kernel: [  410.369764] RTW: 0x110: 65 61 6C 74  65 6B 0E 03  38 30 32 2E  31 31 61 63  
Apr  3 18:17:30 m0054 kernel: [  410.369842] RTW: 0x130: FF FF FF FF  FF FF FF FF  FF FF FF FF  FF FF FF FF  
Apr  3 18:17:30 m0054 kernel: [  410.369920] RTW: 0x150: FF FF FF FF  FF FF FF FF  FF FF FF FF  FF FF FF FF  
Apr  3 18:17:30 m0054 kernel: [  410.369997] RTW: 0x170: FF FF FF FF  FF FF FF FF  FF FF FF FF  FF FF FF FF  
Apr  3 18:17:30 m0054 kernel: [  410.370075] RTW: 0x190: FF FF FF FF  FF FF FF FF  FF FF FF FF  FF FF FF FF  
Apr  3 18:17:30 m0054 kernel: [  410.370153] RTW: 0x1B0: FF FF FF FF  FF FF FF FF  FF FF FF FF  FF FF FF FF  
Apr  3 18:17:30 m0054 kernel: [  410.370230] RTW: 0x1D0: FF FF FF FF  FF FF FF FF  FF FF FF FF  FF FF FF FF  
Apr  3 18:17:30 m0054 kernel: [  410.370308] RTW: 0x1F0: FF FF FF FF  FF FF FF FF  FF FF FF FF  FF FF FF FF  
Apr  3 18:17:30 m0054 kernel: [  410.562635] RTW: [RF_PATH] ver_id.RF_TYPE:RF_1T1R
Apr  3 18:17:30 m0054 kernel: [  410.562646] RTW: [RF_PATH] HALSPEC's rf_reg_trx_path_bmp:0x11, rf_reg_path_avail_num:1, max_tx_cnt:1
Apr  3 18:17:30 m0054 kernel: [  410.562653] RTW: [RF_PATH] PG's trx_path_bmp:0x00, max_tx_cnt:0
Apr  3 18:17:30 m0054 kernel: [  410.562665] RTW: [RF_PATH] HALDATA's trx_path_bmp:0x11, max_tx_cnt:1
Apr  3 18:17:30 m0054 kernel: [  410.562680] RTW: [TRX_Nss] HALSPEC - tx_nss:1, rx_nss:1
Apr  3 18:17:30 m0054 kernel: [  410.562686] RTW: [TRX_Nss] Registry - tx_nss:0, rx_nss:0
Apr  3 18:17:30 m0054 kernel: [  410.562691] RTW: [TRX_Nss] HALDATA - tx_nss:1, rx_nss:1
Apr  3 18:17:30 m0054 kernel: [  410.562700] RTW: txpath=0x1, rxpath=0x1
Apr  3 18:17:30 m0054 kernel: [  410.562707] RTW: txpath_1ss:0x1, num:1
Apr  3 18:17:30 m0054 kernel: [  410.563928] RTW: rtw_regsty_chk_target_tx_power_valid return _FALSE for band:0, path:0, rs:0, t:-1
Apr  3 18:17:30 m0054 kernel: [  410.567269] RTW: rtw_ndev_init(wlan0) if1 mac_addr=00:c0:ca:b3:a4:ec
Apr  3 18:17:30 m0054 systemd[1]: Starting Load/Save RF Kill Switch Status...
Apr  3 18:17:30 m0054 systemd-rfkill[4511]: Failed to parse state file /var/lib/systemd/rfkill/platform-xhci-hcd.0.auto-usb-0:1:1.2:wlan: Invalid argument
Apr  3 18:17:30 m0054 systemd[1]: Started Load/Save RF Kill Switch Status.
Apr  3 18:17:31 m0054 dhcpcd[2755]: wlan0: waiting for carrier
Apr  3 18:17:31 m0054 systemd-udevd[4512]: link_config: autonegotiation is unset or enabled, the speed and duplex are not writable.
Apr  3 18:17:36 m0054 kernel: [  416.679144] RTW: wlan0- hw port(0) mac_addr =00:c0:ca:b3:a4:ec
Apr  3 18:17:36 m0054 wpa_supplicant[1996]: wlan0: Trying to associate with 5c:e9:31:0a:78:24 (SSID='xxxxxx' freq=5200 MHz)
Apr  3 18:17:36 m0054 wpa_supplicant[1996]: FT: Invalid key management type (2)
Apr  3 18:17:36 m0054 kernel: [  416.734679] RTW: rtw_set_802_11_connect(wlan0)  fw_state=0x00000008
Apr  3 18:17:36 m0054 kernel: [  416.868146] RTW: start auth
Apr  3 18:17:36 m0054 kernel: [  416.871600] RTW: auth success, start assoc
Apr  3 18:17:36 m0054 kernel: [  416.883349] RTW: assoc success
Apr  3 18:17:36 m0054 wpa_supplicant[1996]: wlan0: Associated with 5c:e9:31:0a:78:24
Apr  3 18:17:36 m0054 wpa_supplicant[1996]: wlan0: CTRL-EVENT-SUBNET-STATUS-UPDATE status=0
Apr  3 18:17:36 m0054 kernel: [  416.888060] RTW: curr_tx_rate : CCK_1M (L)
Apr  3 18:17:36 m0054 kernel: [  416.888070] RTW: curr_retry_ratio : 0
Apr  3 18:17:36 m0054 kernel: [  416.888075] RTW: ra_mask : 0x00000000003ffff0
Apr  3 18:17:36 m0054 kernel: [  416.898522] RTW: recv eapol packet 1/4
Apr  3 18:17:36 m0054 wpa_supplicant[1996]: wlan0: WPA: Key negotiation completed with 5c:e9:31:0a:78:24 [PTK=CCMP GTK=CCMP]
Apr  3 18:17:36 m0054 wpa_supplicant[1996]: wlan0: CTRL-EVENT-CONNECTED - Connection to 5c:e9:31:0a:78:24 completed [id=0 id_str=]
Apr  3 18:17:36 m0054 kernel: [  416.925772] RTW: set group key camid:1, addr:5c:e9:31:0a:78:24, kid:1, type:AES
Apr  3 18:17:36 m0054 dhcpcd[2755]: wlan0: carrier acquired
Apr  3 18:17:36 m0054 dhcpcd[2755]: wlan0: IAID ca:b3:a4:ec
Apr  3 18:17:36 m0054 dhcpcd[2755]: wlan0: adding address fe80::5c1e:5176:405d:82d8
Apr  3 18:17:37 m0054 dhcpcd[2755]: wlan0: soliciting an IPv6 router
Apr  3 18:17:37 m0054 dhcpcd[2755]: wlan0: rebinding lease of 192.168.10.179
Apr  3 18:17:37 m0054 dhcpcd[2755]: wlan0: truncated packet (179) from 127.0.0.1
Apr  3 18:17:37 m0054 dhcpcd[2755]: wlan0: truncated packet (207) from 127.0.0.1
Apr  3 18:17:37 m0054 dhcpcd[2755]: wlan0: probing address 192.168.10.179/24
Apr  3 18:17:42 m0054 dhcpcd[2755]: wlan0: leased 192.168.10.179 for 7200 seconds
Apr  3 18:17:42 m0054 dhcpcd[2755]: wlan0: adding route to 192.168.10.0/24
Apr  3 18:17:42 m0054 dhcpcd[2755]: wlan0: adding default route via 192.168.10.1
Apr  3 18:17:50 m0054 dhcpcd[2755]: wlan0: no IPv6 Routers available

@SKA , can you please try to power down the wifi device and power it back up (using the commands below) and check the output of dmesg.

#turn off USB VBUS
voxl-gpio write 157 0

#turn on USB VBUS
voxl-gpio write 157 1

my dmesg output:

[   24.123592] usb 1-1: USB disconnect, device number 2
[   24.152384] RTW: rtw_ndev_uninit(wlan0) if1
[   24.172973] RTW: rtw_dev_unload: driver not in IPS
[   33.464284] usb 1-1: new high-speed USB device number 3 using xhci-hcd
[   33.602465] usb 1-1: New USB device found, idVendor=0bda, idProduct=c820, bcdDevice= 2.00
[   33.602487] usb 1-1: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[   33.602502] usb 1-1: Product: 802.11ac NIC
[   33.602517] usb 1-1: Manufacturer: Realtek
[   33.602531] usb 1-1: SerialNumber: 123456
[   33.614447] RTW: [HALMAC]55772M
               HALMAC_MAJOR_VER = 1
               HALMAC_PROTOTYPE_VER = 6
               HALMAC_MINOR_VER = 6
               HALMAC_PATCH_VER = 22
[   33.760178] vdd_tof: disabling
[   33.760182] vdd_hap_boost: disabling
[   33.835010] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x40d00
[   33.835034] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x40d00
[   33.835055] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x40d00
[   33.835075] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x40d00
[   33.835095] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x40d00
[   33.835115] qcom_rpmh DRV:apps_rsc TCS Busy, retrying RPMH message send: addr=0x40d00
[   33.951477] RTW: HW EFUSE
[   33.951489] RTW: 0x000: 29 81 00 BC  09 00 21 00  6E 04 A4 34  10 00 30 0B  
[   33.951530] RTW: 0x010: 26 26 26 26  26 26 27 27  27 27 27 13  FF FF FF FF  
[   33.951570] RTW: 0x020: FF FF 2D 2D  2D 2D 2D 2D  2D 2D 2D 2D  2D 2D 2D 2D  
[   33.951632] RTW: 0x030: 13 FF FF FF  FF FF E0 FF  FF FF 28 28  28 28 28 28  
[   33.951671] RTW: 0x040: 28 28 28 28  28 02 FF FF  FF FF FF FF  FF FF FF FF  
[   33.951710] RTW: 0x050: FF FF FF FF  FF FF FF FF  FF FF FF FF  FF FF FF FF  
[   33.951749] RTW: 0x060: FF FF FF FF  FF FF FF FF  FF FF FF FF  FF FF FF FF  
[   33.951788] RTW: 0x070: FF FF FF FF  FF FF FF FF  FF FF FF FF  FF FF FF FF  
[   33.951827] RTW: 0x080: FF FF FF FF  FF FF FF FF  FF FF FF FF  FF FF FF FF  
[   33.951866] RTW: 0x090: FF FF FF FF  FF FF FF FF  FF FF FF FF  FF FF FF FF  
[   33.951904] RTW: 0x0A0: FF FF FF FF  FF FF FF FF  FF FF FF FF  FF FF FF FF  
[   33.951943] RTW: 0x0B0: FF FF FF FF  FF FF FF FF  7F 1A 1B 00  FF FF FF FF  
[   33.951982] RTW: 0x0C0: FF 22 00 00  00 E6 00 00  00 FF 26 FF  FF FF FF FF  
[   33.952179] RTW: 0x0D0: FF FF FF FF  FF FF FF FF  FF FF FF FF  FF FF FF FF  
[   33.952291] RTW: 0x0E0: FF FF FF FF  FF FF FF FF  FF FF FF FF  FF FF FF FF  
[   33.952331] RTW: 0x0F0: FF FF FF FF  FF FF FF FF  FF FF FF FF  FF FF FF FF  
[   33.952369] RTW: 0x100: DA 0B 20 C8  C3 46 02 00  C0 CA B3 A4  EC 09 03 52  
[   33.952408] RTW: 0x110: 65 61 6C 74  65 6B 0E 03  38 30 32 2E  31 31 61 63  
[   33.952447] RTW: 0x120: 20 4E 49 43  08 03 31 32  33 34 35 36  FF FF FF FF  
[   33.952486] RTW: 0x130: FF FF FF FF  FF FF FF FF  FF FF FF FF  FF FF FF FF  
[   33.952533] RTW: 0x140: FF FF FF FF  00 00 31 0F  FF FF FF FF  FF FF FF FF  
[   33.952602] RTW: 0x150: FF FF FF FF  FF FF FF FF  FF FF FF FF  FF FF FF FF  
[   33.952641] RTW: 0x160: FF FF FF FF  FF FF FF FF  FF FF FF FF  FF FF FF FF  
[   33.952691] RTW: 0x170: FF FF FF FF  FF FF FF FF  FF FF FF FF  FF FF FF FF  
[   33.952730] RTW: 0x180: FF FF FF FF  FF FF FF FF  FF FF FF FF  FF FF FF FF  
[   33.952769] RTW: 0x190: FF FF FF FF  FF FF FF FF  FF FF FF FF  FF FF FF FF  
[   33.952808] RTW: 0x1A0: FF FF FF FF  FF FF FF FF  FF FF FF FF  FF FF FF FF  
[   33.952847] RTW: 0x1B0: FF FF FF FF  FF FF FF FF  FF FF FF FF  FF FF FF FF  
[   33.952885] RTW: 0x1C0: FF FF FF FF  FF FF FF FF  FF FF FF FF  FF FF FF FF  
[   33.952924] RTW: 0x1D0: FF FF FF FF  FF FF FF FF  FF FF FF FF  FF FF FF FF  
[   33.952963] RTW: 0x1E0: FF FF FF FF  FF FF FF FF  FF FF FF FF  FF FF FF FF  
[   33.953002] RTW: 0x1F0: FF FF FF FF  FF FF FF FF  FF FF FF FF  FF FF FF FF  
[   33.953329] RTW: hal_com_config_channel_plan chplan:0x7F
[   34.184253] RTW: [RF_PATH] ver_id.RF_TYPE:RF_1T1R
[   34.184263] RTW: [RF_PATH] HALSPEC's rf_reg_trx_path_bmp:0x11, rf_reg_path_avail_num:1, max_tx_cnt:1
[   34.184269] RTW: [RF_PATH] PG's trx_path_bmp:0x00, max_tx_cnt:0
[   34.184276] RTW: [RF_PATH] Registry's trx_path_bmp:0x00, tx_path_lmt:0, rx_path_lmt:0
[   34.184283] RTW: [RF_PATH] HALDATA's trx_path_bmp:0x11, max_tx_cnt:1
[   34.184288] RTW: [RF_PATH] HALDATA's rf_type:RF_1T1R, NumTotalRFPath:1
[   34.184296] RTW: [TRX_Nss] HALSPEC - tx_nss:1, rx_nss:1
[   34.184301] RTW: [TRX_Nss] Registry - tx_nss:0, rx_nss:0
[   34.184307] RTW: [TRX_Nss] HALDATA - tx_nss:1, rx_nss:1
[   34.184315] RTW: txpath=0x1, rxpath=0x1
[   34.184321] RTW: txpath_1ss:0x1, num:1
[   34.185543] RTW: rtw_regsty_chk_target_tx_power_valid return _FALSE for band:0, path:0, rs:0, t:-1
[   34.188733] RTW: rtw_ndev_init(wlan0) if1 mac_addr=00:c0:ca:b3:a4:ec
[   35.507557] IPv6: ADDRCONF(NETDEV_UP): wlan0: link is not ready

@SKA , I don't have a file "station_band", also 2ghz seems incorrect (maybe it should be 2.4ghz? not sure). Try to rename / remove that file?

what does iwconfig wlan0 output? what about dmesg? anything useful?

Alex

@minhthinh The params are in our voxl-px4-params repo. For example: https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-px4-params/-/blob/master/params/v1.13/Platforms/M500_FCV2.params?ref_type=heads

@Rowan-Dempster , Thanks for the update!

On my end, I did not get a chance to enable MISP pipeline (normalization in particular) to run offline. Let me double check something with you - would you want to load a log with raw10 and resize + generate the normalized image (of a different size) or just keep the same size as input?

Since you have the basic rolling shutter QVIO working, it would be interesting to see how that compares to the AR0144 QVIO from the same data set. Any details you would like to share? (only if you want to)

Regarding playback results from QVIO output not being exactly repeatable -- " no deterministic mechanism to ensure that voxl-qvio-server initializes using the same camera frame" -- what do you mean by that? if you start QVIO and start feeding the frames + imu data from voxl-replay, the data should arrive into QVIO repeatably and QVIO should initialize on the same frame - after the initialization conditions have been satisfied.

If I remember correctly the way QVIO app works is that it may hold the frame until all the IMU data for that frame has arrived and then pushes the frame into the QVIO algorithm. If you push the frame before pushing all the IMU data, then the algorithm will still process the frame but it wont have the IMU data for the whole duration of the frame capture.

The frame capture duration for global shutter cameras is simple :

• start = start of exposure
• end = end of exposure = start of exposure + exposure time
  (i believe it is common to assign a timestamp which is equal to the center of exposure, which is between the start and end timestamps).
• center of exposure = start of exposure + (exposure time)/2

In order to find the center of exposure for rolling shutter camera, you need to use the following formula, as used in our EIS implementation in MISP:

int64_t center_of_exposure_ns = start_of_exposure_ns + (exposure_time_ns + readout_time_ns)/2;

In any case, this would be something to double check.. also i don't know how far your trajectories are from run to run.

Another tip: since you don't have ground truth in your data, it helps to start and end your data collection in exactly the same spot and orientation, so you can use the end position drift as a good metric (ground truth).

Alex