Drone losing position / crashing in Offboard mode

[Jetson Nano]

@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 Katzfey]

@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 Nano]

@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
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[Jetson Nano]

@Eric-Katzfey when I do

voxl-inspect-mavlink mavlink_onboard

I am getting

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

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

[Jetson Nano]

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

[Eric Katzfey]

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

[Jetson Nano]

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

[Jetson Nano]

@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?

Flight Review

(logs.px4.io)

Flight Review

(logs.px4.io)

Flight Review

(logs.px4.io)

Flight Review

(logs.px4.io)

Flight Review

(logs.px4.io)

[Jetson Nano]

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 Katzfey]

@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 Nano]

@Eric-Katzfey What about the previous question I asked?

[Eric Katzfey]

@Jetson-Nano I really don't know what would cause that lag. You say it goes away if you wait awhile. How long do you have to wait for that to happen? And what is the baud rate of the UART that connects the CUBE Orange to VOXL 2? It's possible that the UART has too much data going over it and needs a higher baudrate.

[Jetson Nano]

@Eric-Katzfey The baudrate is 921600, sometimes I'll have to wait for more than 5 minutes and sometimes within seconds it will be ready to fly with required Hz

[Eric Katzfey]

@Jetson-Nano Part of the startup sequence when running with QGC or MP is to upload a full set of parameters. There are hundreds of parameters and this can take quite a while to complete. While this is happening the serial link is inundated with PARAM_VALUE mavlink messages. Once that has been completed then the link will have much less traffic. While it is laggy you can look at the mavlink console and see if it is receiving those PARAM_VALUE messages. That is a possible reason.

[Jetson Nano]

@Eric-Katzfey I'm currently integrating VOXL2 with Flight Core V2.

PX4 version: v1.14.3 (from modalAI fork)

I am trying to use offboard mode and do figure-eight, but the problem I'm facing is, whenever I switch to offboard, the drone sometimes moves randomly.

Once I reboot the FC once and start flying from same position, and then switching to offboard, I observe that the drone does figure 8, but loses height sequentially and drifts over the ground and crashes after a few cycles.

For height estimation, I rely on using a Rangefinder.

Also, when I run,

voxl-inspect-mavlink mavlink_onboard

I'm not able to observe, the #331 ODOMETRY message.

[Eric Katzfey]

@Jetson-Nano What happens if you don't use the rangefinder? If VIO is working then you get the height from that.

[Jetson Nano]

@Eric-Katzfey Thanks for reverting back.

I had tried earlier disabling the Rangefinder and relying only on VIO.

VIO works fine in feature rich environment, when it crosses low-feature environment, there is a random motion of system which could observed serving the main reason for using external Rangefinder.

Also, height estimation goes off even if the drone does figure-eight within offboard, height estimation goes off.

Is there any way I can view the #331 ODOMETRY message being pushed from FC to Compute?

[Jetson Nano]

Hey @Eric-Katzfey I was able to solve it. I was able to shift the drone to offboard-mode, the drone doesn't drift away. In voxl-vision-hub, I have the set the parameter to figure_eight.

I'm getting the stream to VOXL2 from Flight Core v2. I had to run it on 2 different ports.

mavlink stream -r 30 -s ODOMETRY -d /dev/ttyS4
mavlink stream -r 30 -s ODOMETRY -d /dev/ttyS6
But I'm getting the #331 odometry message when using only ttyS6 port.

Now the drone is able to figure_eight loop without loosing height estimates.