@Thomas-Müller VOXL 2 can be used outdoors.

@Daniel-Rincon Yes, please start a new post for the VIO question

@Daniel-Rincon It seems like all that should be possible with MAVSDK. I asked about GPS because of the message MAVSDK gave you about waiting for a global position.

@Thomas-Müller We support ArduPilot. But you can run it directly on VOXL 2, you don't need a separate flight controller, as long as you are okay with the I/O limitations of the VOXL 2.

@constantines Unfortunately, the PX4 Mavlink module is only running on the applications processor (Linux) and not on the DSP side. Mavlink would have to be added to the DSP PX4 build.

@garret Here's the source code for our branch of Gazebo: https://github.com/modalai/PX4-SITL_gazebo-classic/tree/voxl-dev

@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.

@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.

@Yufei-Jiang What hardware are you using? Is this PX4 running on VOXL 2?