@Noah-Heinen
Hello there,
Yes, we haven't officially supported this package for a while, and our development drones currently do not ship STEREO_RAW8 format by default.
However, even though there are no official plans for this repo, I made some changes that should solve the issue for now. This also expands to RAW8 images. Feel free to test it out, this repo will likely become community driven.
Hello there,
2d Lidar 50gram above the gps bridge
2 x light ilumination (front, down - we are flying and dark tunnels next to tracking cameras)
props guards the are seen by the tracking camera
we have added tof camera, moving from C28 to C29 ( currently its not working or wired in sw), we have changed the extrinsix.conf file in /etc/modalai accordingly.
all of those changes did not effect our filght and we had good flight with good vio during the flight
If the platform we are discussing has this added elements, it is a custom frame.
we are exploting a tunnel for the first time.we use the poshold durung junction turns to hold in place during turbolance. my answer would be we can live with resets assuming we can accumulate the positions for mapping between the resets.
Yes, so that is a mapping/loop closure software responsibility, not VIO.
how do we make sure what you are saying is right and we are passing estimates to px4 ?
Check your voxl-vision-hub.conf, if en_vio is set to true, it passes to PX4 as external vision estimates. Also rectified by:
HGT_REF=3 //VIO
EKF2_EV_QMIN=16
EKF2_EV_CTRL=15
For now, our PX4 flavour doesn't handle VIO resets gracefully always. We currently have overcome this issue by using VFC. Hence, the reason I suggested that you should try to repeat the same maneuver under VFC position. If you have any questions on how to enable VFC, please feel free to ask.
what should I expect ?
Likely more robust performance under resets at the potential cost of manually hover thrust, PID/PD tuning.
PS: I wanted to try reproducing your setup here with non-modded Starling2 Max, but I am unable to match your setup without logs
@RoyAzriel Hello there,
This goes back a bit to my first question, but let's break it down systematically:
Do you need VIO estimates to be always continuos or reset jumps are okay?
If you need VIO during takeoff and your application is not robust to SFM resets (potential jump discontinuity), I recommend never using dynamic init and warm reset
Back to what you reported
"still sometimes it fails to converge. Can you recomend what is the best sequence one should do to get convergence in high precentage after power cycle ?"
Convergence for a initialization would usually refer to a dynamic initialization (nonlinear optimization), as the static initialization does not involve optimization. That being said, some static inits can be bad as soon as the platform is in the air: noisy ZUPT updates, bad IMU calibration and sigma/random-walk values. This is natural under custom frame mods, perhaps a full IMU intrinsics recalibration could help.
Nevertheless, it seems that you're running VIO by passing estimates to PX4, instead of using VFC Position (Local Controller with VIO estimates that send just setpoints to PX4). I am personally curious if the issues you're having are related to the PX4 integration with VIO estimates or if it's truly pure VIO estimates.
Please try:
voxl-configure-vision-hub factory_enable_vfc_starling
If you have logs to share, please feel free to send them.
Q: What is your EV_q (quality minimum) in PX4? Also what your HGT ref?
PS: We are bringing up better VIO debug tools for users, so stay tuned for updates as well.
All the best, ZBFT (Joao Leonardo Silva Cotta)
@arvind_g3aero - how many cameras are you running? Can you paste the logs exactly - it is hard to understand the issue without the logs.
As for snapshot - when you change the stream in qgc, the snapshot is probably not tied to the new rtsp steam, causing a fault on the backend - I can look into this at somepoint in the next fwe days.
As for 1.3.5 and 1.4.0 those SDK's do NOT support multi camera streaming into qgc.
Zach
Wanted to check in again. Any advice on swapping spektrum RC for ghost atto on voxl2?
Hardware - VOXL2
Software version - up to SDK 1.4.0
I identified what could be a significant bug when attempting to implement offboard control via acceleration setpoints in px4 on voxl2. See this post for complete details:
Hello. I’m implementing a ROS2 offboard control package to fly a dev drone running PX4 (v1.14). I have it set up so that I publish offboard_control_mode messages with the position flag set true and publish trajectory_s…
Dronecode Forum | Open Source Drone Development (discuss.px4.io)
TLDR: acceleration control doesn't work because a constrain function in the MC position control code incorrectly clamps a value of NaN for vz (set in trajectory_setpoint.vz field from an external controller) to the downward velocity limit. This only occurs on VOXL2, not in px4_sitl built from the same firmware but running on my laptop.
I resolved the issue by wrapping the specific constrain function in a call to PX4_ISFINITE which just calls __builtin_isfinite(), but this raises the question of why is NaN being evaluated incorrectly within the constrain function and could checks on NaN be failing silently elsewhere in the control stack and causing other hard to track issues.
IDK if this is being caused by a compiler flag set specifically for voxl2, it's inherent to the QRB5165 hardware, or if this issue would apply to all ARM devices. Can someone take a look and provide some feedback?
Hello, I am attempting to stream encoded video over a somewhat long range radio link (imx412 @ 1024x768 on the pipe hires_small_encoded).
Voxl portal:
RTSP stream through vlc:
As far as I can tell, the encoded stream should be within 2Mbps which is well within the capability of our radios, especially at the range I've been testing, so I'm not sure why voxl-portal buffers and locks up while voxl-streamer doesn't.
Not sure if I read all of this forum page correctly, but it seems like I should not be experiencing latency nearly this bad using voxl-streamer: https://docs.modalai.com/camera-video/low-latency-video-streaming/
Let me know if I am doing anything obviously wrong. Thanks!
