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    Drone losing position / crashing in Offboard mode

    GPS-denied Navigation (VIO)
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    • Jetson NanoJ
      Jetson Nano
      last edited by Jetson Nano

      Hello,

      I am trying to run GPS denied navigation using VIO. My hardware setup is

      Flight Controller: CubeOrange
      PX4 version: v1.14.3 (Stable)
      Companion Computer: VOXL 2

      I am trying to use offbaord mode and do navigation, but the problem I am facing is, whenever I switch to offboard, the drone crashes, and it is always in only one direction. It always tilts to the rear left of the drone and falls down.

      Initially I used an optical flow sensor for position hold, later I tried position hold only with external vision and position hold is very good, I can navigate seamlessly around using RC in position hold only with external vision, I tried fusing both EV and OF, position hold was good, but the offboard problem is there even with both EV and OF fused together.

      I have attached the logs below for your reference.

      https://review.px4.io/plot_app?log=e4c9f0f3-df81-4d49-94f0-a9d5b06037c1

      I have switched to offboard mode twice, one is near 6:54:00 and another time is around 7:11:00 for the above log.

      https://review.px4.io/plot_app?log=52346209-bb6a-46c0-9eb4-426c1c93c620

      For this log, I have switched to offboard at 1:30:00

      @Eric-Katzfey @James-Strawson Can you please help me with this? Thank you.

      I have already asked in the PX4 forum, and they said that the setpoint is set to 0,0,0. How do I change it so that the setpoint updates with current position and is not 0,0,0?

      When I do listener for setpoint in mavlink console this is what I get

      nsh> listener vehicle_local_position_setpoint

      TOPIC: vehicle_local_position_setpoint
      vehicle_local_position_setpoint
      timestamp: 299285198 (0.006456 seconds ago)
      x: nan
      y: nan
      z: nan
      vx: nan
      vy: nan
      vz: nan
      acceleration: [0.00000, 0.00000, 100.00000]
      thrust: [-0.00000, -0.00000, -0.00100]
      yaw: -1.56113
      yawspeed: 0.00000

      Eric KatzfeyE 1 Reply Last reply Reply Quote 0
      • Eric KatzfeyE
        Eric Katzfey Dev Team @Jetson Nano
        last edited by

        @Jetson-Nano What is figure_eight_move_home set to in your configuration file for voxl-vision-hub (/etc/modalai/voxl-vision-hub.conf)?

        Jetson NanoJ 1 Reply Last reply Reply Quote 0
        • Jetson NanoJ
          Jetson Nano @Eric Katzfey
          last edited by

          @Eric-Katzfey It is set to true.

          Screenshot 2024-06-07 at 12.24.02 PM.png

          I have a starling and have verified the parameter with that system also.

          Eric KatzfeyE 1 Reply Last reply Reply Quote 0
          • Eric KatzfeyE
            Eric Katzfey Dev Team @Jetson Nano
            last edited by

            @Jetson-Nano So the figure eight works fine on the Starling? But not on the drone with the Cube Orange using VOXL 2 as a companion computer? What if you takeoff straight up, hover at about 7 or 8 feet altitude, then go into offboard mode. Does it still do the same thing? Is the drone with the Cube Orange much larger than the Starling?

            Jetson NanoJ 1 Reply Last reply Reply Quote 0
            • Jetson NanoJ
              Jetson Nano @Eric Katzfey
              last edited by

              @Eric-Katzfey The test I'll do and let you know, but the drone with cube orange is bigger than Starling and the extrinsics for the drone has been changed with respect to the modified build's CG.

              Jetson NanoJ 1 Reply Last reply Reply Quote 0
              • Jetson NanoJ
                Jetson Nano @Jetson Nano
                last edited by Jetson Nano

                Hey @Eric-Katzfey , I tested it in all directions and the drone is going towards the home, but not to 0,0,1.5 but it's going down to 0,0,0. Wherever I take off and navigate and then switch to offboard, it'll try to go to 0,0,0. I tested it with 1m and 2m altitude and still the same. I also tested it right above the origin, it went straight down.

                Eric KatzfeyE 1 Reply Last reply Reply Quote 0
                • Eric KatzfeyE
                  Eric Katzfey Dev Team @Jetson Nano
                  last edited by

                  @Jetson-Nano I'm not sure why it would do that on Cube Orange. It almost seems like it is doing RTL instead of starting the figure eight. The Starling is running our fork of PX4, not standard PX4. You could build our fork and try it on the Cube Orange to see if that makes a difference.

                  Jetson NanoJ 1 Reply Last reply Reply Quote 0
                  • Jetson NanoJ
                    Jetson Nano @Eric Katzfey
                    last edited by

                    @Eric-Katzfey Can I download the PX4 which is built for VOXL and upload it in Cube?

                    Eric KatzfeyE 1 Reply Last reply Reply Quote 0
                    • Eric KatzfeyE
                      Eric Katzfey Dev Team @Jetson Nano
                      last edited by

                      @Jetson-Nano No, you would need to download the source and build it yourself.

                      Jetson NanoJ 1 Reply Last reply Reply Quote 0
                      • Jetson NanoJ
                        Jetson Nano @Eric Katzfey
                        last edited by

                        @Eric-Katzfey I tried using the modalai forked repo in the cube and this is the outcome, when I switch to offboard it is still going to home but not like crashing how it was previously, but goes near home and hovers very close to the ground, and I get autopilot disengaged and switches to land mode and lands.

                        Eric KatzfeyE 1 Reply Last reply Reply Quote 0
                        • Eric KatzfeyE
                          Eric Katzfey Dev Team @Jetson Nano
                          last edited by

                          @Jetson-Nano Interesting. Can you share the log from that flight?

                          Jetson NanoJ 1 Reply Last reply Reply Quote 0
                          • Jetson NanoJ
                            Jetson Nano @Eric Katzfey
                            last edited by

                            Hey @Eric-Katzfey, here are the logs for the flight test.

                            https://review.px4.io/plot_app?log=9b6a7c2c-2bf4-43f7-8182-ac3efe2b4655

                            In this flight test, I set the offboard mode to trajectory and did the flight test

                            https://review.px4.io/plot_app?log=65f0b03a-11a5-409e-b2ca-1fe2a36cc088

                            In this flight test, I changed the offboard mode to figure_eight and still the result is same, it goes very close to ground at 0,0,0 and hovers there.

                            Eric KatzfeyE 1 Reply Last reply Reply Quote 0
                            • Eric KatzfeyE
                              Eric Katzfey Dev Team @Jetson Nano
                              last edited by

                              @Jetson-Nano I'm guessing that you don't have an odometry mavlink stream setup so the Cube Orange isn't sending out vehicle odometry mavlink packets that the offboard mode needs.

                              Jetson NanoJ 1 Reply Last reply Reply Quote 0
                              • Jetson NanoJ
                                Jetson Nano @Eric Katzfey
                                last edited by

                                @Eric-Katzfey How do I setup that?

                                Eric KatzfeyE 1 Reply Last reply Reply Quote 0
                                • Eric KatzfeyE
                                  Eric Katzfey Dev Team @Jetson Nano
                                  last edited by

                                  @Jetson-Nano I would recommend reading through the PX4 documentataion on Mavlink messaging. It discusses how to enable streams. https://docs.px4.io/v1.14/en/middleware/mavlink.html

                                  Jetson NanoJ 1 Reply Last reply Reply Quote 0
                                  • Jetson NanoJ
                                    Jetson Nano @Eric Katzfey
                                    last edited by

                                    Thank you @Eric-Katzfey , I'll check and get back if needed anything.

                                    Eric KatzfeyE 1 Reply Last reply Reply Quote 0
                                    • Eric KatzfeyE
                                      Eric Katzfey Dev Team @Jetson Nano
                                      last edited by

                                      @Jetson-Nano The command would be something like mavlink stream -r 30 -s ODOMETRY -u 14556 and would be added to one of the startup files.

                                      Jetson NanoJ 1 Reply Last reply Reply Quote 0
                                      • Jetson NanoJ
                                        Jetson Nano @Eric Katzfey
                                        last edited by

                                        @Eric-Katzfey The documentation explains how to send custom mavlink messages, but odometry is not a custom message and isn't it streamed by default in your forked PX4?

                                        Eric KatzfeyE 1 Reply Last reply Reply Quote 0
                                        • Eric KatzfeyE
                                          Eric Katzfey Dev Team @Jetson Nano
                                          last edited by

                                          @Jetson-Nano The command is the same regardless of whether the message is custom or not. Another thing you can do is enable some of the debug flags available with voxl-vision-hub to see things like which mavlink messages it is receiving and which mavlink messages it is sending out. There are a variety of flags to choose from and that would help to figure out what is going wrong.

                                          Jetson NanoJ 1 Reply Last reply Reply Quote 0
                                          • Jetson NanoJ
                                            Jetson Nano @Eric Katzfey
                                            last edited by

                                            @Eric-Katzfey This is what I am getting when I run vision hub with debug

                                            voxl_visionion-hub -d

Enabling recv debugging for localhost UDP port from ROS
loading our own config file
=================================================================
Parameters as loaded from config file:
config_file_version:        1

MAVROS / MAVSDK
en_localhost_mavlink_udp    0
localhost_udp_port_number:  14551

VIO
en_vio:                     1
vio_pipe:                   qvio
secondary_vio_pipe:         ov
en_reset_vio_if_initialized_inverted: 1
vio_warmup_s:               3.000000
send_odom_while_failed:     1

MISC FEATURES
horizon_cal_tolerance:      0.500000
OFFBOARD MODE
offboard_mode:              trajectory
follow_tag_id:              0
figure_eight_move_home:     1
robot_radius:               0.300000
collision_sampling_dt:      0.100000
max_lookahead_distance:     1.000000
FIXED FRAME RELOCALIZATION
en_tag_fixed_frame:         0
fixed_frame_filter_len:     5
en_transform_mavlink_pos_setpoints_from_fixed_frame:0

COLLISION PREVENTION (VOA)
en_voa:                     1
voa_upper_bound_m:          -0.150000
voa_lower_bound_m:          0.150000
voa_memory_s:               1.000000
voa_max_pc_per_fusion:      100
voa_pie_min_dist_m:         0.250000
voa_pie_max_dist_m:         20.000000
voa_pie_under_trim_m:       1.000000
voa_pie_threshold:          3
voa_pie_slices:             36
voa_pie_bin_depth_m:        0.150000
voa_send_rate_hz:           20.000000

voa_input #0
    enabled:            1
    type:               point_cloud
    input_pipe:         dfs_point_cloud
    frame:              stereo_l
    max_depth:          8.000000
    min_depth:          0.300000
    cell_size:          0.080000
    threshold:          4
    x_fov_deg:          68.000000
    y_fov_deg:          56.000000
    conf_cutoff:        0
voa_input #1
    enabled:            1
    type:               point_cloud
    input_pipe:         stereo_front_pc
    frame:              stereo_front_l
    max_depth:          8.000000
    min_depth:          0.300000
    cell_size:          0.080000
    threshold:          4
    x_fov_deg:          68.000000
    y_fov_deg:          56.000000
    conf_cutoff:        0
voa_input #2
    enabled:            1
    type:               point_cloud
    input_pipe:         stereo_rear_pc
    frame:              stereo_rear_l
    max_depth:          8.000000
    min_depth:          0.300000
    cell_size:          0.080000
    threshold:          4
    x_fov_deg:          68.000000
    y_fov_deg:          56.000000
    conf_cutoff:        0
voa_input #3
    enabled:            1
    type:               tof
    input_pipe:         tof
    frame:              tof
    max_depth:          6.000000
    min_depth:          0.150000
    cell_size:          0.080000
    threshold:          3
    x_fov_deg:          106.500000
    y_fov_deg:          85.099998
    conf_cutoff:        125
voa_input #4
    enabled:            1
    type:               rangefinder
    input_pipe:         rangefinders
    frame:              body
    max_depth:          8.000000
    min_depth:          0.300000
    cell_size:          0.080000
    threshold:          4
    x_fov_deg:          68.000000
    y_fov_deg:          56.000000
    conf_cutoff:        0
=================================================================
loading extrinsics config file
loading horizon cal file
existing instance of voxl-vision-hub found, attempting to stop it
starting geometry module
starting autopilot monitor
starting mavlink IO
Waiting to connect to voxl-mavlink-server
Connected to voxl-mavlink-server
starting fixed pose input
starting vio manager
Connected to VIO pipe: qvio
Geometry module updating to use imu: imu_apps for VIO
new T imu wrt body:
 0.0907  -0.0060  -0.0295  
new R imu to body:
 1.0000  -0.0000   0.0000  
 0.0000   1.0000  -0.0000  
 0.0000   0.0000   1.0000  
done updating transforms to use imu: imu_apps
from AP msgid:  30 sysid:  1 compid:  1
Detected Autopilot Mavlink SYSID 1
starting tag manager
starting voa manager
starting horizon cal module
Connected to VOA input pipe: tof
starting offboard trajectory
Init complete
Trajectory Monitor connected to voa pointcloud
from AP msgid:   0 sysid:  1 compid:  1
requesting autopilot_version
from AP msgid: 148 sysid:  1 compid:  1
Detected autopilot version: 1.14.0
from AP msgid:  77 sysid:  1 compid:  1
from AP msgid:  31 sysid:  1 compid:  1
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from AP msgid: 410 sysid:  1 compid:  1
from AP msgid: 410 sysid:  1 compid:  1
from AP msgid: 410 sysid:  1 compid:  1
from AP msgid: 410 sysid:  1 compid:  1
from AP msgid: 410 sysid:  1 compid:  1
from AP msgid: 410 sysid:  1 compid:  1
from AP msgid: 410 sysid:  1 compid:  1
from AP msgid: 410 sysid:  1 compid:  1
from AP msgid: 410 sysid:  1 compid:  1
from AP msgid:  30 sysid:  1 compid:  1
from AP msgid:  31 sysid:  1 compid:  1
from AP msgid: 253 sysid:  1 compid:  1
from AP msgid: 253 sysid:  1 compid:  1
from AP msgid: 141 sysid:  1 compid:  1
from AP msgid:  30 sysid:  1 compid:  1
from AP msgid:  31 sysid:  1 compid:  1
from AP msgid: 245 sysid:  1 compid:  1
from AP msgid:  32 sysid:  1 compid:  1
from AP msgid: 12901 sysid:  1 compid:  1
from AP msgid:  85 sysid:  1 compid:  1
from AP msgid:  29 sysid:  1 compid:  1
from AP msgid:  36 sysid:  1 compid:  1
from AP msgid:   1 sysid:  1 compid:  1
from AP msgid: 380 sysid:  1 compid:  1
from AP msgid:   8 sysid:  1 compid:  1
from AP msgid:  74 sysid:  1 compid:  1
from AP msgid:  83 sysid:  1 compid:  1
from AP msgid:  30 sysid:  1 compid:  1
from AP msgid:  31 sysid:  1 compid:  1
from AP msgid:  30 sysid:  1 compid:  1
from AP msgid:  42 sysid:  1 compid:  1
from AP msgid:   0 sysid:  1 compid:  1
from AP msgid:  30 sysid:  1 compid:  1
from AP msgid:  31 sysid:  1 compid:  1
from AP msgid: 147 sysid:  1 compid:  1
from AP msgid: 230 sysid:  1 compid:  1
from AP msgid:  30 sysid:  1 compid:  1
from AP msgid:  74 sysid:  1 compid:  1
from AP msgid:  31 sysid:  1 compid:  1
from AP msgid:  30 sysid:  1 compid:  1
from AP msgid:  30 sysid:  1 compid:  1
from AP msgid:  31 sysid:  1 compid:  1
from AP msgid:  30 sysid:  1 compid:  1
from AP msgid:  31 sysid:  1 compid:  1
from AP msgid:  74 sysid:  1 compid:  1
from AP msgid:  30 sysid:  1 compid:  1
from AP msgid:  83 sysid:  1 compid:  1
from AP msgid:  85 sysid:  1 compid:  1
from AP msgid:  31 sysid:  1 compid:  1
from AP msgid:  30 sysid:  1 compid:  1
from AP msgid:  42 sysid:  1 compid:  1
from AP msgid:  30 sysid:  1 compid:  1
from AP msgid:   0 sysid:  1 compid:  1
from AP msgid:  31 sysid:  1 compid:  1
from AP msgid:  30 sysid:  1 compid:  1
from AP msgid:  74 sysid:  1 compid:  1
from AP msgid: 411 sysid:  1 compid:  1
from AP msgid:  30 sysid:  1 compid:  1
from AP msgid:  31 sysid:  1 compid:  1
from AP msgid: 253 sysid:  1 compid:  1
from AP msgid: 410 sysid:  1 compid:  1
from AP msgid: 410 sysid:  1 compid:  1
from AP msgid: 410 sysid:  1 compid:  1
from AP msgid: 410 sysid:  1 compid:  1
from AP msgid: 410 sysid:  1 compid:  1
from AP msgid: 410 sysid:  1 compid:  1
from AP msgid: 410 sysid:  1 compid:  1
from AP msgid: 410 sysid:  1 compid:  1
from AP msgid: 410 sysid:  1 compid:  1
from AP msgid: 253 sysid:  1 compid:  1
from AP msgid:  30 sysid:  1 compid:  1
from AP msgid:  31 sysid:  1 compid:  1
from AP msgid: 253 sysid:  1 compid:  1
from AP msgid: 141 sysid:  1 compid:  1
from AP msgid:  30 sysid:  1 compid:  1
from AP msgid: 245 sysid:  1 compid:  1
from AP msgid:  32 sysid:  1 compid:  1
from AP msgid: 12901 sysid:  1 compid:  1
from AP msgid:  29 sysid:  1 compid:  1
from AP msgid:  36 sysid:  1 compid:  1
from AP msgid:   1 sysid:  1 compid:  1
from AP msgid: 380 sysid:  1 compid:  1
from AP msgid:   8 sysid:  1 compid:  1
from AP msgid:  74 sysid:  1 compid:  1
from AP msgid:  30 sysid:  1 compid:  1
from AP msgid:  83 sysid:  1 compid:  1
from AP msgid:  31 sysid:  1 compid:  1
from AP msgid:  42 sysid:  1 compid:  1
from AP msgid:  30 sysid:  1 compid:  1
from AP msgid:   0 sysid:  1 compid:  1
from AP msgid:  31 sysid:  1 compid:  1
from AP msgid:  30 sysid:  1 compid:  1
                                            Jetson NanoJ 1 Reply Last reply Reply Quote 0
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