VOXL VIO not sending position over Odometry Message
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I switched into system image 3.3 as so here: https://forum.modalai.com/topic/382/collision-prevention because I want to be able to use VIO and collision avoidance. However, after doing so, I am no longer able to get VIO updates to x and y in the Odometry message on QGC.
Previously I was able to receive changes to Odometry in version 3.2, it is only now that I can't receive those changes.
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In your px4 parameters, what is EKF2_AID_MASK? If you're trying to run in vio mode, you need to set the aid mask to 280 (vision position fusion + vision yaw fusion + vision velocity fusion)
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@Alex-Gardner Also 280. I loaded in the configuration file here https://gitlab.com/voxl-public/flight-core-px4/px4-parameters/-/blob/master/helpers/ekf2_indoor_vio.params
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@Alex-Gardner
Found the solution. Here are the steps to make sure VIO is working properly.
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Make sure VIO is enabled in the voxl-vision-px4.conf file
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Make sure PX4 parameters are updated
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Ensure voxl-camera-server, voxl-qvio-server, and voxl-vision-px4 services are all running in the background
If you could add step 2 into the documentation it would help a lot. As is, I had to do a lot of forum searching to figure this out. https://forum.modalai.com/topic/140/vio-indoor-navigation
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