Is the VOXL powering at all, do you see any LEDs? Have you tried using a different USB or confirming that the one you're using is working properly?

@Daniel-Rincon said in Cant use Mavsdk! please Help!:

Waiting for the drone to have a global position estimation....

Does your drone have GPS? Is the GPS getting a proper fix?

@garret As best I can tell the diff_pressure field in the Mavlink HIL_SENSOR message sent from Gazebo would have this info but it is an optional field so not sure if Gazebo is actually populating it. If it is then it will be made available within PX4 via the differential_pressure topic.

M0153 step file : link

@JackHammer no problem.

This should be the esc param file for the Starling 2 Max motor : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/dev/voxl-esc-params/D0012_Starling_MAX/esc_params_m0129_f2203_5_1500kv_7x3.7x3.xml

The param file should also be present in /usr/share/modalai/voxl-esc-params

Do you know how to update the esc parameters?

systemctl stop voxl-px4
cd /usr/share/modalai/voxl-esc-tools
./voxl-esc-updload-params.py -p <full path to params file>

After updating the params, you can run a "power ramp test", as shown here : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/dev/voxl-esc-tools/doc/low_kv_motor_tuning.md?ref_type=heads#power-ramp-test . Use id=255 to spin all motors (and you can limit power to 80%)

./voxl-esc-spin.py --id 255 --power 80 --ramp-time 3.0 --timeout 3.5 --enable-plot 1 --cmd-rate 250

Since you can't display the plot on voxl2, a plot will be saved as html, which you get download from voxl2 and view in a browser.

You can do it without propellers (for safety). If all the motors are working properly, the four rpms will be very close to the same as the power ramps (within 100-200 rpm). Otherwise, you may have a bad motor that was damaged during the crash.

https://www.modalai.com/products/starling-2-max-replacement-parts?variant=49704826896688

Alex

M0162 step file : link

@JackHammer , can you please tell me which drone you have an post a picture of the motor just in case? I can point you to the correct parameters for your motor.

Alex

@Rodrigo-Betances , yes, absolutely. I will provide your name to the team.

@berayksl Hi there, to address your questions:

• The inconsistent VIO performance between flights

appears the inconsistent vio behavior on multiple arm/disarms is due to the way voxl-open-vins-server re-initializes after a disarm event. Are you still using in the voxl-open-vins-server.conf option "en_vio_always_on": false and "en_auto_reset": true?

If so, the next thing that can be an issue is takeoff speed. To ensure VIO has the correct origin (0,0,0) we have a conf parameter called: "takeoff_accel_threshold": 0.5, This is essential a takeoff detector and is set for a aggressive take off (>80% throttle)

If you are taking off very slow and gentle, it's possible the detector is not being tripped. Try lowering it from 0.5 to 0.3.

• The “Yaw estimate error” message (should I be concerned if QGC shows no error)?

If the error doesn't repeat, it's just VIO telling PX4 to reset it's heading and PX4 complains on reset. This can be ignored. BUT if QGC keeps repeating the announcement, you have a PX4 yaw_gate issue--make sure in PX4 the param EKF2_EV_CTRL has the 'yaw' option checked.

And as a sanity check cause you are seeing an R/C issue: goto the radio tab in QGC and confirm your pitch/roll/yaw inputs are calibrated and centered such that you are not sending biased commands.

• The drone ignoring RC inputs during the second flight

Are you getting a r/c "manual control lost" announcement in QGC or just lack of control when trying to move the drone? On the former case we have notice users in environments with lots of metal (e.g. warehouse) will have RF interference issues.

At this point, we have numerous improvements in SDK 1.5.0 for Max and it maybe worth the upgrade if your system design allows it. It has improvements with the vio-always-on issues, vio resets, and some PX4 altitude improvements.

@KLindgren , yes something seems off. Few things to try:

• try plugging the ar0144 camera into the lower slot of M0084 and using sensormodule with id 2. Double check the orientation, but the camera should face the same way (towards the voxl2 mini)
• use J6 port on the VOXL2 mini (and the corresponding camera slots will be 0 and 1)
• if you have any other camera to test, we can try just to make sure M0084 is functional. If you have another camera, let me know which one, i can help set it up.

Alex