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    Drone losing position / crashing in Offboard mode

    GPS-denied Navigation (VIO)
    2
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    2025
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    • 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 ModalAI 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 ModalAI 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 ModalAI 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 ModalAI 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 ModalAI 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 ModalAI 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
from AP msgid:  30 sysid:  1 compid:  1
from AP msgid: 253 sysid:  1 compid:  1
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from AP msgid: 230 sysid:  1 compid:  1
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from AP msgid:  31 sysid:  1 compid:  1
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from AP msgid:  30 sysid:  1 compid:  1
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from AP msgid:  31 sysid:  1 compid:  1
from AP msgid:   0 sysid:  1 compid:  1
from AP msgid:  30 sysid:  1 compid:  1
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from AP msgid: 411 sysid:  1 compid:  1
from AP msgid:  30 sysid:  1 compid:  1
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from AP msgid:  31 sysid:  1 compid:  1
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from AP msgid:  30 sysid:  1 compid:  1
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from AP msgid: 141 sysid:  1 compid:  1
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from AP msgid:  32 sysid:  1 compid:  1
from AP msgid: 12901 sysid:  1 compid:  1
from AP msgid:  29 sysid:  1 compid:  1
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from AP msgid:   1 sysid:  1 compid:  1
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from AP msgid:  30 sysid:  1 compid:  1
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from AP msgid:  31 sysid:  1 compid:  1
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from AP msgid:  30 sysid:  1 compid:  1
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from AP msgid:  30 sysid:  1 compid:  1
from AP msgid:  31 sysid:  1 compid:  1
from AP msgid:  30 sysid:  1 compid:  1
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from AP msgid:  42 sysid:  1 compid:  1
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from AP msgid:  30 sysid:  1 compid:  1
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from AP msgid:   0 sysid:  1 compid:  1
from AP msgid:  30 sysid:  1 compid:  1
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from AP msgid:  31 sysid:  1 compid:  1
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from AP msgid:  30 sysid:  1 compid:  1
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from AP msgid: 141 sysid:  1 compid:  1
from AP msgid: 245 sysid:  1 compid:  1
from AP msgid:  32 sysid:  1 compid:  1
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from AP msgid:  29 sysid:  1 compid:  1
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from AP msgid:   1 sysid:  1 compid:  1
from AP msgid: 380 sysid:  1 compid:  1
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from AP msgid:  30 sysid:  1 compid:  1
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from AP msgid: 253 sysid:  1 compid:  1
from AP msgid: 410 sysid:  1 compid:  1
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from AP msgid: 253 sysid:  1 compid:  1
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from AP msgid:  30 sysid:  1 compid:  1
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from AP msgid:  30 sysid:  1 compid:  1
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from AP msgid:  30 sysid:  1 compid:  1
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from AP msgid:  74 sysid:  1 compid:  1
from AP msgid:  30 sysid:  1 compid:  1
from AP msgid:  31 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:  30 sysid:  1 compid:  1
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from AP msgid:  31 sysid:  1 compid:  1
from AP msgid:  74 sysid:  1 compid:  1
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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:  30 sysid:  1 compid:  1
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from AP msgid:  31 sysid:  1 compid:  1
from AP msgid:  30 sysid:  1 compid:  1
from AP msgid:   0 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: 141 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
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from AP msgid:   1 sysid:  1 compid:  1
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from AP msgid: 410 sysid:  1 compid:  1
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from AP msgid:  30 sysid:  1 compid:  1
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from AP msgid:  30 sysid:  1 compid:  1
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from AP msgid:  32 sysid:  1 compid:  1
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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
                              • Jetson NanoJ
                                Jetson Nano @Jetson Nano
                                last edited by Jetson Nano

                                @Eric-Katzfey when I do

                                voxl-inspect-mavlink mavlink_onboard

                                I am getting

                                98df2a0c-9b4a-4257-b1a0-6ca7bc250b33-image.png

                                and in mavlink console when I stream Odometry message as you said I am getting no output

                                430e0c62-e971-4d5f-983f-7861e3678120-image.png

                                when I used -d instead of -u it shows device not running. I tried with different ports

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

                                  Hey @Eric-Katzfey , I think I solved it. I got the odometry stream to VOXL2 from Cube. I had to run

                                  mavlink stream -r 30 -s ODOMETRY -d /dev/ttyS0

                                  after this I got odometry stream on the

                                  voxl-inspect-mavlink mavlink_onboard

                                  56d52bb8-1a8c-40ef-ae11-d80bdf51e74e-image.png

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

                                    @Jetson-Nano Great! And is that now allowing you to run the figure 8?

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

                                      @Eric-Katzfey I haven't done the flight test. I'll do the flight test and get back to you.

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

                                        @Eric-Katzfey , I did the flight test and it works fine. Thank you.

                                        But there is a problem, when I am checked 1st time it worked fine, later after a reboot and once again I ran the Mavlink Odometry stream, the terminal was lagging. The terminal with the output of voxl-inspect-mavlink mavlink_onboard this is lagging. The Odometry Hz was somewhere around 5 - 10, all the output in the terminal was lagging, so I though it was some WiFi issue and again tested offboard mode, but this time the drone went back to home.

                                        So I rebooted the system and again ran the mavlink stream and waited for sometime until the lag in the voxl terminal is not there anymore, then when I tested offboard it was fine. I tried both figure eight and trajectory, both worked fine. I will attach the logs, can you please tell what might have caused the lag?

                                        https://logs.px4.io/plot_app?log=93fb987f-c326-4d5d-89bb-2771bcacb3fc

                                        https://logs.px4.io/plot_app?log=593bdb7b-7ce5-45f5-b183-2d0914015162

                                        https://logs.px4.io/plot_app?log=3d8e8bd4-ec6e-4bcf-beea-741dff891ff9

                                        https://logs.px4.io/plot_app?log=d33b6610-af39-4006-b90e-d1fdaad75da7

                                        https://logs.px4.io/plot_app?log=b1ac6a04-0e1a-4049-bc27-dfe9a25224a8

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

                                          And I have one more question @Eric-Katzfey , I have to start the mavlink stream everytime. Is there a way to start the mavlink stream as soon the system is powered on?

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

                                            @Jetson-Nano Yes, there is a way to do that. Probably best to consult the PX4 documentation or ask on the PX4 forum for best way to do that on a Cube Orange.

                                            Jetson NanoJ 1 Reply Last reply Reply Quote 0
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