Timeline for open-vins documentation

Viktor Gal

note when dumping the same params on the another starling v2 drone i'm getting a slightly different set of params, which i have no idea why it is.

# Onboard parameters for Vehicle 1
#
# Stack: PX4 Pro
# Vehicle: Multi-Rotor
# Version: 1.14.0 dev
# Git Revision: 70d986f08a020054
#
# Vehicle-Id Component-Id Name Value Type
1	1	ASPD_SCALE_1	1.000000000000000000	9
1	1	BAT1_CAPACITY	3950.000000000000000000	9
1	1	BAT1_N_CELLS	2	6
1	1	BAT1_R_INTERNAL	0.021999999880790710	9
1	1	BAT1_SOURCE	0	6
1	1	BAT1_V_CHARGED	4.099999904632568359	9
1	1	BAT1_V_EMPTY	2.799999952316284180	9
1	1	BAT1_V_LOAD_DROP	0.100000001490116119	9
1	1	BAT_AVRG_CURRENT	4.300000190734863281	9
1	1	BAT_CRIT_THR	0.100000001490116119	9
1	1	BAT_EMERGEN_THR	0.050000000745058060	9
1	1	BAT_LOW_THR	0.150000005960464478	9
1	1	BAT_N_CELLS	3	6
1	1	BAT_V_CHARGED	4.050000190734863281	9
1	1	BAT_V_EMPTY	3.599999904632568359	9
1	1	BAT_V_LOAD_DROP	0.300000011920928955	9
1	1	CAL_ACC0_ID	2490378	6
1	1	CAL_ACC0_PRIO	50	6
1	1	CAL_ACC0_ROT	-1	6
1	1	CAL_ACC0_XOFF	-0.041400000452995300	9
1	1	CAL_ACC0_XSCALE	1.000000000000000000	9
1	1	CAL_ACC0_YOFF	-0.014000000432133675	9
1	1	CAL_ACC0_YSCALE	1.000000000000000000	9
1	1	CAL_ACC0_ZOFF	-0.050900001078844070	9
1	1	CAL_ACC0_ZSCALE	1.000000000000000000	9
1	1	CAL_ACC1_ID	0	6
1	1	CAL_ACC2_ID	0	6
1	1	CAL_ACC3_ID	0	6
1	1	CAL_AIR_CMODEL	0	6
1	1	CAL_AIR_TUBED_MM	1.500000000000000000	9
1	1	CAL_AIR_TUBELEN	0.200000002980232239	9
1	1	CAL_BARO0_ID	0	6
1	1	CAL_BARO1_ID	0	6
1	1	CAL_BARO2_ID	0	6
1	1	CAL_BARO3_ID	0	6
1	1	CAL_GYRO0_ID	2490378	6
1	1	CAL_GYRO0_PRIO	50	6
1	1	CAL_GYRO0_ROT	-1	6
1	1	CAL_GYRO0_XOFF	0.001399999950081110	9
1	1	CAL_GYRO0_YOFF	0.019099999219179153	9
1	1	CAL_GYRO0_ZOFF	-0.001799999969080091	9
1	1	CAL_GYRO1_ID	0	6
1	1	CAL_GYRO2_ID	0	6
1	1	CAL_GYRO3_ID	0	6
1	1	CAL_MAG0_ID	527625	6
1	1	CAL_MAG0_PRIO	75	6
1	1	CAL_MAG0_ROT	0	6
1	1	CAL_MAG0_XCOMP	0.000000000000000000	9
1	1	CAL_MAG0_XODIAG	-0.027599999681115150	9
1	1	CAL_MAG0_XOFF	-0.093400001525878906	9
1	1	CAL_MAG0_XSCALE	1.085199952125549316	9
1	1	CAL_MAG0_YCOMP	0.000000000000000000	9
1	1	CAL_MAG0_YODIAG	0.014800000004470348	9
1	1	CAL_MAG0_YOFF	0.249599993228912354	9
1	1	CAL_MAG0_YSCALE	0.836799979209899902	9
1	1	CAL_MAG0_ZCOMP	0.000000000000000000	9
1	1	CAL_MAG0_ZODIAG	-0.007000000216066837	9
1	1	CAL_MAG0_ZOFF	-0.107400000095367432	9
1	1	CAL_MAG0_ZSCALE	1.048200011253356934	9
1	1	CAL_MAG1_ID	0	6
1	1	CAL_MAG1_ROT	-1	6
1	1	CAL_MAG2_ID	0	6
1	1	CAL_MAG2_ROT	-1	6
1	1	CAL_MAG3_ID	0	6
1	1	CAL_MAG3_ROT	-1	6
1	1	CAL_MAG_COMP_TYP	0	6
1	1	CAL_MAG_SIDES	63	6
1	1	CA_AIRFRAME	0	6
1	1	CA_FAILURE_MODE	0	6
1	1	CA_METHOD	2	6
1	1	CA_R0_SLEW	0.000000000000000000	9
1	1	CA_R10_SLEW	0.000000000000000000	9
1	1	CA_R11_SLEW	0.000000000000000000	9
1	1	CA_R1_SLEW	0.000000000000000000	9
1	1	CA_R2_SLEW	0.000000000000000000	9
1	1	CA_R3_SLEW	0.000000000000000000	9
1	1	CA_R4_SLEW	0.000000000000000000	9
1	1	CA_R5_SLEW	0.000000000000000000	9
1	1	CA_R6_SLEW	0.000000000000000000	9
1	1	CA_R7_SLEW	0.000000000000000000	9
1	1	CA_R8_SLEW	0.000000000000000000	9
1	1	CA_R9_SLEW	0.000000000000000000	9
1	1	CA_ROTOR0_AX	0.000000000000000000	9
1	1	CA_ROTOR0_AY	0.000000000000000000	9
1	1	CA_ROTOR0_AZ	-1.000000000000000000	9
1	1	CA_ROTOR0_CT	6.500000000000000000	9
1	1	CA_ROTOR0_KM	0.050000000745058060	9
1	1	CA_ROTOR0_PX	0.085000000894069672	9
1	1	CA_ROTOR0_PY	0.062500000000000000	9
1	1	CA_ROTOR0_PZ	0.000000000000000000	9
1	1	CA_ROTOR10_AX	0.000000000000000000	9
1	1	CA_ROTOR10_AY	0.000000000000000000	9
1	1	CA_ROTOR10_AZ	-1.000000000000000000	9
1	1	CA_ROTOR10_CT	6.500000000000000000	9
1	1	CA_ROTOR10_KM	0.050000000745058060	9
1	1	CA_ROTOR10_PX	0.000000000000000000	9
1	1	CA_ROTOR10_PY	0.000000000000000000	9
1	1	CA_ROTOR10_PZ	0.000000000000000000	9
1	1	CA_ROTOR11_AX	0.000000000000000000	9
1	1	CA_ROTOR11_AY	0.000000000000000000	9
1	1	CA_ROTOR11_AZ	-1.000000000000000000	9
1	1	CA_ROTOR11_CT	6.500000000000000000	9
1	1	CA_ROTOR11_KM	0.050000000745058060	9
1	1	CA_ROTOR11_PX	0.000000000000000000	9
1	1	CA_ROTOR11_PY	0.000000000000000000	9
1	1	CA_ROTOR11_PZ	0.000000000000000000	9
1	1	CA_ROTOR1_AX	0.000000000000000000	9
1	1	CA_ROTOR1_AY	0.000000000000000000	9
1	1	CA_ROTOR1_AZ	-1.000000000000000000	9
1	1	CA_ROTOR1_CT	6.500000000000000000	9
1	1	CA_ROTOR1_KM	0.050000000745058060	9
1	1	CA_ROTOR1_PX	-0.085000000894069672	9
1	1	CA_ROTOR1_PY	-0.062500000000000000	9
1	1	CA_ROTOR1_PZ	0.000000000000000000	9
1	1	CA_ROTOR2_AX	0.000000000000000000	9
1	1	CA_ROTOR2_AY	0.000000000000000000	9
1	1	CA_ROTOR2_AZ	-1.000000000000000000	9
1	1	CA_ROTOR2_CT	6.500000000000000000	9
1	1	CA_ROTOR2_KM	-0.050000000745058060	9
1	1	CA_ROTOR2_PX	0.085000000894069672	9
1	1	CA_ROTOR2_PY	-0.062500000000000000	9
1	1	CA_ROTOR2_PZ	0.000000000000000000	9
1	1	CA_ROTOR3_AX	0.000000000000000000	9
1	1	CA_ROTOR3_AY	0.000000000000000000	9
1	1	CA_ROTOR3_AZ	-1.000000000000000000	9
1	1	CA_ROTOR3_CT	6.500000000000000000	9
1	1	CA_ROTOR3_KM	-0.050000000745058060	9
1	1	CA_ROTOR3_PX	-0.085000000894069672	9
1	1	CA_ROTOR3_PY	0.062500000000000000	9
1	1	CA_ROTOR3_PZ	0.000000000000000000	9
1	1	CA_ROTOR4_AX	0.000000000000000000	9
1	1	CA_ROTOR4_AY	0.000000000000000000	9
1	1	CA_ROTOR4_AZ	-1.000000000000000000	9
1	1	CA_ROTOR4_CT	6.500000000000000000	9
1	1	CA_ROTOR4_KM	0.050000000745058060	9
1	1	CA_ROTOR4_PX	0.000000000000000000	9
1	1	CA_ROTOR4_PY	0.000000000000000000	9
1	1	CA_ROTOR4_PZ	0.000000000000000000	9
1	1	CA_ROTOR5_AX	0.000000000000000000	9
1	1	CA_ROTOR5_AY	0.000000000000000000	9
1	1	CA_ROTOR5_AZ	-1.000000000000000000	9
1	1	CA_ROTOR5_CT	6.500000000000000000	9
1	1	CA_ROTOR5_KM	0.050000000745058060	9
1	1	CA_ROTOR5_PX	0.000000000000000000	9
1	1	CA_ROTOR5_PY	0.000000000000000000	9
1	1	CA_ROTOR5_PZ	0.000000000000000000	9
1	1	CA_ROTOR6_AX	0.000000000000000000	9
1	1	CA_ROTOR6_AY	0.000000000000000000	9
1	1	CA_ROTOR6_AZ	-1.000000000000000000	9
1	1	CA_ROTOR6_CT	6.500000000000000000	9
1	1	CA_ROTOR6_KM	0.050000000745058060	9
1	1	CA_ROTOR6_PX	0.000000000000000000	9
1	1	CA_ROTOR6_PY	0.000000000000000000	9
1	1	CA_ROTOR6_PZ	0.000000000000000000	9
1	1	CA_ROTOR7_AX	0.000000000000000000	9
1	1	CA_ROTOR7_AY	0.000000000000000000	9
1	1	CA_ROTOR7_AZ	-1.000000000000000000	9
1	1	CA_ROTOR7_CT	6.500000000000000000	9
1	1	CA_ROTOR7_KM	0.050000000745058060	9
1	1	CA_ROTOR7_PX	0.000000000000000000	9
1	1	CA_ROTOR7_PY	0.000000000000000000	9
1	1	CA_ROTOR7_PZ	0.000000000000000000	9
1	1	CA_ROTOR8_AX	0.000000000000000000	9
1	1	CA_ROTOR8_AY	0.000000000000000000	9
1	1	CA_ROTOR8_AZ	-1.000000000000000000	9
1	1	CA_ROTOR8_CT	6.500000000000000000	9
1	1	CA_ROTOR8_KM	0.050000000745058060	9
1	1	CA_ROTOR8_PX	0.000000000000000000	9
1	1	CA_ROTOR8_PY	0.000000000000000000	9
1	1	CA_ROTOR8_PZ	0.000000000000000000	9
1	1	CA_ROTOR9_AX	0.000000000000000000	9
1	1	CA_ROTOR9_AY	0.000000000000000000	9
1	1	CA_ROTOR9_AZ	-1.000000000000000000	9
1	1	CA_ROTOR9_CT	6.500000000000000000	9
1	1	CA_ROTOR9_KM	0.050000000745058060	9
1	1	CA_ROTOR9_PX	0.000000000000000000	9
1	1	CA_ROTOR9_PY	0.000000000000000000	9
1	1	CA_ROTOR9_PZ	0.000000000000000000	9
1	1	CA_ROTOR_COUNT	4	6
1	1	CA_R_REV	0	6
1	1	CA_SV0_SLEW	0.000000000000000000	9
1	1	CA_SV1_SLEW	0.000000000000000000	9
1	1	CA_SV2_SLEW	0.000000000000000000	9
1	1	CA_SV3_SLEW	0.000000000000000000	9
1	1	CA_SV4_SLEW	0.000000000000000000	9
1	1	CA_SV5_SLEW	0.000000000000000000	9
1	1	CA_SV6_SLEW	0.000000000000000000	9
1	1	CA_SV7_SLEW	0.000000000000000000	9
1	1	CBRK_AIRSPD_CHK	0	6
1	1	CBRK_FLIGHTTERM	121212	6
1	1	CBRK_IO_SAFETY	22027	6
1	1	CBRK_SUPPLY_CHK	894281	6
1	1	CBRK_USB_CHK	197848	6
1	1	CBRK_VTOLARMING	0	6
1	1	COM_ACT_FAIL_ACT	0	6
1	1	COM_ARM_ARSP_EN	1	6
1	1	COM_ARM_AUTH_ID	10	6
1	1	COM_ARM_AUTH_MET	0	6
1	1	COM_ARM_AUTH_REQ	0	6
1	1	COM_ARM_AUTH_TO	1.000000000000000000	9
1	1	COM_ARM_BAD_INOV	0	6
1	1	COM_ARM_CHK_ESCS	0	6
1	1	COM_ARM_EKF_BIAS	3.000000000000000000	9
1	1	COM_ARM_EKF_HGT	1.000000000000000000	9
1	1	COM_ARM_EKF_POS	0.500000000000000000	9
1	1	COM_ARM_EKF_VEL	0.500000000000000000	9
1	1	COM_ARM_EKF_YAW	0.500000000000000000	9
1	1	COM_ARM_HFLT_CHK	1	6
1	1	COM_ARM_IMU_ACC	0.699999988079071045	9
1	1	COM_ARM_IMU_GYR	0.250000000000000000	9
1	1	COM_ARM_MAG_ANG	60	6
1	1	COM_ARM_MAG_STR	2	6
1	1	COM_ARM_MIS_REQ	0	6
1	1	COM_ARM_ODID	0	6
1	1	COM_ARM_SDCARD	0	6
1	1	COM_ARM_SWISBTN	0	6
1	1	COM_ARM_WO_GPS	1	6
1	1	COM_CPU_MAX	-1.000000000000000000	9
1	1	COM_DISARM_FORCE	0	6
1	1	COM_DISARM_LAND	0.100000001490116119	9
1	1	COM_DISARM_PRFLT	20.000000000000000000	9
1	1	COM_DL_LOSS_T	10	6
1	1	COM_FAIL_ACT_T	5.000000000000000000	9
1	1	COM_FLIGHT_UUID	0	6
1	1	COM_FLTMODE1	0	6
1	1	COM_FLTMODE2	0	6
1	1	COM_FLTMODE3	2	6
1	1	COM_FLTMODE4	2	6
1	1	COM_FLTMODE5	7	6
1	1	COM_FLTMODE6	7	6
1	1	COM_FLT_PROFILE	0	6
1	1	COM_FLT_TIME_MAX	-1	6
1	1	COM_FORCE_SAFETY	0	6
1	1	COM_HLDL_LOSS_T	120	6
1	1	COM_HLDL_REG_T	0	6
1	1	COM_HOME_EN	1	6
1	1	COM_HOME_IN_AIR	0	6
1	1	COM_IMB_PROP_ACT	0	6
1	1	COM_KILL_DISARM	0.000000000000000000	9
1	1	COM_LKDOWN_TKO	3.000000000000000000	9
1	1	COM_LOW_BAT_ACT	0	6
1	1	COM_MOT_TEST_EN	1	6
1	1	COM_OBC_LOSS_T	5.000000000000000000	9
1	1	COM_OBL_RC_ACT	0	6
1	1	COM_OBS_AVOID	0	6
1	1	COM_OF_LOSS_T	1.000000000000000000	9
1	1	COM_PARACHUTE	0	6
1	1	COM_POSCTL_NAVL	0	6
1	1	COM_POS_FS_DELAY	1	6
1	1	COM_POS_FS_EPH	5.000000000000000000	9
1	1	COM_POS_LOW_EPH	-1.000000000000000000	9
1	1	COM_POWER_COUNT	1	6
1	1	COM_PREARM_MODE	0	6
1	1	COM_QC_ACT	0	6
1	1	COM_RCL_EXCEPT	0	6
1	1	COM_RC_ARM_HYST	1000	6
1	1	COM_RC_IN_MODE	3	6
1	1	COM_RC_LOSS_T	0.500000000000000000	9
1	1	COM_RC_OVERRIDE	1	6
1	1	COM_RC_STICK_OV	30.000000000000000000	9
1	1	COM_SPOOLUP_TIME	2.000000000000000000	9
1	1	COM_TAKEOFF_ACT	0	6
1	1	COM_VEL_FS_EVH	1.000000000000000000	9
1	1	COM_WIND_MAX	-1.000000000000000000	9
1	1	COM_WIND_WARN	-1.000000000000000000	9
1	1	CP_DELAY	0.400000005960464478	9
1	1	CP_DIST	-1.000000000000000000	9
1	1	CP_GO_NO_DATA	0	6
1	1	CP_GUIDE_ANG	30.000000000000000000	9
1	1	EKF2_ABIAS_INIT	0.200000002980232239	9
1	1	EKF2_ABL_ACCLIM	25.000000000000000000	9
1	1	EKF2_ABL_GYRLIM	3.000000000000000000	9
1	1	EKF2_ABL_LIM	0.400000005960464478	9
1	1	EKF2_ABL_TAU	0.500000000000000000	9
1	1	EKF2_ACC_B_NOISE	0.003000000026077032	9
1	1	EKF2_ACC_NOISE	0.349999994039535522	9
1	1	EKF2_AID_MASK	0	6
1	1	EKF2_ANGERR_INIT	0.100000001490116119	9
1	1	EKF2_ARSP_THR	0.000000000000000000	9
1	1	EKF2_ASPD_MAX	20.000000000000000000	9
1	1	EKF2_ASP_DELAY	100.000000000000000000	9
1	1	EKF2_AVEL_DELAY	5.000000000000000000	9
1	1	EKF2_BARO_CTRL	1	6
1	1	EKF2_BARO_DELAY	0.000000000000000000	9
1	1	EKF2_BARO_GATE	5.000000000000000000	9
1	1	EKF2_BARO_NOISE	3.500000000000000000	9
1	1	EKF2_BCOEF_X	100.000000000000000000	9
1	1	EKF2_BCOEF_Y	100.000000000000000000	9
1	1	EKF2_BETA_GATE	5.000000000000000000	9
1	1	EKF2_BETA_NOISE	0.300000011920928955	9
1	1	EKF2_DECL_TYPE	7	6
1	1	EKF2_DRAG_CTRL	0	6
1	1	EKF2_DRAG_NOISE	2.500000000000000000	9
1	1	EKF2_EAS_NOISE	1.399999976158142090	9
1	1	EKF2_EVA_NOISE	0.100000001490116119	9
1	1	EKF2_EVP_GATE	5.000000000000000000	9
1	1	EKF2_EVP_NOISE	0.100000001490116119	9
1	1	EKF2_EVV_GATE	3.000000000000000000	9
1	1	EKF2_EVV_NOISE	0.100000001490116119	9
1	1	EKF2_EV_CTRL	15	6
1	1	EKF2_EV_DELAY	0.000000000000000000	9
1	1	EKF2_EV_HGT_TO	5000	6
1	1	EKF2_EV_NOISE_MD	0	6
1	1	EKF2_EV_POS_TO	1000	6
1	1	EKF2_EV_POS_X	0.000000000000000000	9
1	1	EKF2_EV_POS_Y	0.000000000000000000	9
1	1	EKF2_EV_POS_Z	0.000000000000000000	9
1	1	EKF2_EV_QMIN	1	6
1	1	EKF2_FUSE_BETA	0	6
1	1	EKF2_GBIAS_INIT	0.100000001490116119	9
1	1	EKF2_GND_EFF_DZ	4.000000000000000000	9
1	1	EKF2_GND_MAX_HGT	0.500000000000000000	9
1	1	EKF2_GPS_CHECK	245	6
1	1	EKF2_GPS_CTRL	0	6
1	1	EKF2_GPS_DELAY	110.000000000000000000	9
1	1	EKF2_GPS_POS_X	0.000000000000000000	9
1	1	EKF2_GPS_POS_Y	0.000000000000000000	9
1	1	EKF2_GPS_POS_Z	0.000000000000000000	9
1	1	EKF2_GPS_P_GATE	5.000000000000000000	9
1	1	EKF2_GPS_P_NOISE	0.500000000000000000	9
1	1	EKF2_GPS_V_GATE	5.000000000000000000	9
1	1	EKF2_GPS_V_NOISE	0.300000011920928955	9
1	1	EKF2_GRAV_NOISE	1.000000000000000000	9
1	1	EKF2_GSF_TAS	15.000000000000000000	9
1	1	EKF2_GYR_B_LIM	0.150000005960464478	9
1	1	EKF2_GYR_B_NOISE	0.001000000047497451	9
1	1	EKF2_GYR_NOISE	0.014999999664723873	9
1	1	EKF2_HDG_GATE	2.599999904632568359	9
1	1	EKF2_HEAD_NOISE	0.300000011920928955	9
1	1	EKF2_HGT_REF	3	6
1	1	EKF2_IMU_CTRL	3	6
1	1	EKF2_IMU_POS_X	0.004300000146031380	9
1	1	EKF2_IMU_POS_Y	0.007300000172108412	9
1	1	EKF2_IMU_POS_Z	-0.016000000759959221	9
1	1	EKF2_MAG_ACCLIM	0.500000000000000000	9
1	1	EKF2_MAG_B_NOISE	0.000099999997473788	9
1	1	EKF2_MAG_CHECK	1	6
1	1	EKF2_MAG_DECL	0.000000000000000000	9
1	1	EKF2_MAG_DELAY	0.000000000000000000	9
1	1	EKF2_MAG_E_NOISE	0.001000000047497451	9
1	1	EKF2_MAG_GATE	3.000000000000000000	9
1	1	EKF2_MAG_NOISE	0.050000000745058060	9
1	1	EKF2_MAG_TYPE	5	6
1	1	EKF2_MAG_YAWLIM	0.200000002980232239	9
1	1	EKF2_MCOEF	0.150000005960464478	9
1	1	EKF2_MIN_RNG	0.100000001490116119	9
1	1	EKF2_NOAID_NOISE	10.000000000000000000	9
1	1	EKF2_NOAID_TOUT	5000000	6
1	1	EKF2_OF_CTRL	0	6
1	1	EKF2_OF_DELAY	20.000000000000000000	9
1	1	EKF2_OF_GATE	3.000000000000000000	9
1	1	EKF2_OF_N_MAX	0.500000000000000000	9
1	1	EKF2_OF_N_MIN	0.150000005960464478	9
1	1	EKF2_OF_POS_X	0.000000000000000000	9
1	1	EKF2_OF_POS_Y	0.000000000000000000	9
1	1	EKF2_OF_POS_Z	0.000000000000000000	9
1	1	EKF2_OF_QMIN	1	6
1	1	EKF2_PCOEF_XN	0.000000000000000000	9
1	1	EKF2_PCOEF_XP	0.000000000000000000	9
1	1	EKF2_PCOEF_YN	0.000000000000000000	9
1	1	EKF2_PCOEF_YP	0.000000000000000000	9
1	1	EKF2_PCOEF_Z	0.000000000000000000	9
1	1	EKF2_PREDICT_US	10000	6
1	1	EKF2_REQ_EPH	3.000000000000000000	9
1	1	EKF2_REQ_EPV	5.000000000000000000	9
1	1	EKF2_REQ_GPS_H	5.000000000000000000	9
1	1	EKF2_REQ_HDRIFT	0.100000001490116119	9
1	1	EKF2_REQ_NSATS	6	6
1	1	EKF2_REQ_PDOP	2.500000000000000000	9
1	1	EKF2_REQ_SACC	1.500000000000000000	9
1	1	EKF2_REQ_VDRIFT	0.200000002980232239	9
1	1	EKF2_RNG_A_HMAX	5.000000000000000000	9
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1	1	SENS_MAG_RATE	15.000000000000000000	9
1	1	SENS_MAG_SIDES	63	6
1	1	SYS_AUTOCONFIG	0	6
1	1	SYS_AUTOSTART	4001	6
1	1	SYS_CAL_TDEL	24	6
1	1	SYS_CAL_TMAX	10	6
1	1	SYS_CAL_TMIN	5	6
1	1	SYS_FAC_CAL_MODE	0	6
1	1	SYS_FAILURE_EN	0	6
1	1	SYS_HAS_BARO	1	6
1	1	SYS_HAS_GPS	1	6
1	1	SYS_HAS_MAG	1	6
1	1	SYS_HAS_NUM_DIST	0	6
1	1	SYS_HITL	0	6
1	1	SYS_MC_EST_GROUP	2	6
1	1	SYS_RGB_MAXBRT	1.000000000000000000	9
1	1	SYS_STCK_EN	1	6
1	1	SYS_VEHICLE_RESP	-0.400000005960464478	9
1	1	THR_MDL_FAC	0.899999976158142090	9
1	1	TRIG_MODE	0	6
1	1	UAVCAN_ENABLE	0	6
1	1	VOXL_ESC_BAUD	2000000	6
1	1	VOXL_ESC_CONFIG	1	6
1	1	VOXL_ESC_FUNC1	102	6
1	1	VOXL_ESC_FUNC2	103	6
1	1	VOXL_ESC_FUNC3	101	6
1	1	VOXL_ESC_FUNC4	104	6
1	1	VOXL_ESC_MODE	0	6
1	1	VOXL_ESC_PUB_BST	1	6
1	1	VOXL_ESC_REV	0	6
1	1	VOXL_ESC_RPM_MAX	15000	6
1	1	VOXL_ESC_RPM_MIN	2000	6
1	1	VOXL_ESC_SDIR1	0	6
1	1	VOXL_ESC_SDIR2	0	6
1	1	VOXL_ESC_SDIR3	0	6
1	1	VOXL_ESC_SDIR4	0	6
1	1	VOXL_ESC_T_COSP	0.990000009536743164	9
1	1	VOXL_ESC_T_DEAD	20	6
1	1	VOXL_ESC_T_EXPO	35	6
1	1	VOXL_ESC_T_MINF	0.150000005960464478	9
1	1	VOXL_ESC_T_OVER	0	6
1	1	VOXL_ESC_T_PERC	90	6
1	1	VOXL_ESC_T_WARN	0	6
1	1	VOXL_ESC_VLOG	1	6
1	1	VTO_LOITER_ALT	80.000000000000000000	9
1	1	VT_B_DEC_MSS	2.000000000000000000	9
1	1	WV_EN	0	6
1	1	WV_GAIN	1.000000000000000000	9
1	1	WV_ROLL_MIN	1.000000000000000000	9
1	1	WV_YRATE_MAX	90.000000000000000000	9
1	1	XRCE_DDS_DOM_ID	0	6
1	1	XRCE_DDS_KEY	1	6

Viktor Gal

just for clarity here's the diff of the two params above:

--- px4.params	2024-10-30 16:15:04.683354722 +0100
+++ Downloads/params_update.params	2024-10-30 16:59:34.597742954 +0100
@@ -25,11 +25,11 @@
 1	1	CAL_ACC0_ID	2490378	6
 1	1	CAL_ACC0_PRIO	50	6
 1	1	CAL_ACC0_ROT	-1	6
-1	1	CAL_ACC0_XOFF	-0.004399999976158142	9
+1	1	CAL_ACC0_XOFF	-0.041400000452995300	9
 1	1	CAL_ACC0_XSCALE	1.000000000000000000	9
-1	1	CAL_ACC0_YOFF	0.004999999888241291	9
+1	1	CAL_ACC0_YOFF	-0.014000000432133675	9
 1	1	CAL_ACC0_YSCALE	1.000000000000000000	9
-1	1	CAL_ACC0_ZOFF	-0.136299997568130493	9
+1	1	CAL_ACC0_ZOFF	-0.050900001078844070	9
 1	1	CAL_ACC0_ZSCALE	1.000000000000000000	9
 1	1	CAL_ACC1_ID	0	6
 1	1	CAL_ACC2_ID	0	6
@@ -44,9 +44,9 @@
 1	1	CAL_GYRO0_ID	2490378	6
 1	1	CAL_GYRO0_PRIO	50	6
 1	1	CAL_GYRO0_ROT	-1	6
-1	1	CAL_GYRO0_XOFF	0.009499999694526196	9
-1	1	CAL_GYRO0_YOFF	0.012900000438094139	9
-1	1	CAL_GYRO0_ZOFF	0.003199999919161201	9
+1	1	CAL_GYRO0_XOFF	0.001399999950081110	9
+1	1	CAL_GYRO0_YOFF	0.019099999219179153	9
+1	1	CAL_GYRO0_ZOFF	-0.001799999969080091	9
 1	1	CAL_GYRO1_ID	0	6
 1	1	CAL_GYRO2_ID	0	6
 1	1	CAL_GYRO3_ID	0	6
@@ -54,17 +54,17 @@
 1	1	CAL_MAG0_PRIO	75	6
 1	1	CAL_MAG0_ROT	0	6
 1	1	CAL_MAG0_XCOMP	0.000000000000000000	9
-1	1	CAL_MAG0_XODIAG	-0.002300000051036477	9
-1	1	CAL_MAG0_XOFF	0.019600000232458115	9
-1	1	CAL_MAG0_XSCALE	0.371300011873245239	9
+1	1	CAL_MAG0_XODIAG	-0.027599999681115150	9
+1	1	CAL_MAG0_XOFF	-0.093400001525878906	9
+1	1	CAL_MAG0_XSCALE	1.085199952125549316	9
 1	1	CAL_MAG0_YCOMP	0.000000000000000000	9
-1	1	CAL_MAG0_YODIAG	0.009100000374019146	9
-1	1	CAL_MAG0_YOFF	0.122199997305870056	9
-1	1	CAL_MAG0_YSCALE	0.383500009775161743	9
+1	1	CAL_MAG0_YODIAG	0.014800000004470348	9
+1	1	CAL_MAG0_YOFF	0.249599993228912354	9
+1	1	CAL_MAG0_YSCALE	0.836799979209899902	9
 1	1	CAL_MAG0_ZCOMP	0.000000000000000000	9
-1	1	CAL_MAG0_ZODIAG	0.008999999612569809	9
-1	1	CAL_MAG0_ZOFF	-4.477099895477294922	9
-1	1	CAL_MAG0_ZSCALE	0.055500000715255737	9
+1	1	CAL_MAG0_ZODIAG	-0.007000000216066837	9
+1	1	CAL_MAG0_ZOFF	-0.107400000095367432	9
+1	1	CAL_MAG0_ZSCALE	1.048200011253356934	9
 1	1	CAL_MAG1_ID	0	6
 1	1	CAL_MAG1_ROT	-1	6
 1	1	CAL_MAG2_ID	0	6
@@ -632,10 +632,10 @@
 1	1	RC11_REV	1.000000000000000000	9
 1	1	RC11_TRIM	1500.000000000000000000	9
 1	1	RC12_DZ	0.000000000000000000	9
-1	1	RC12_MAX	1988.000000000000000000	9
-1	1	RC12_MIN	1011.000000000000000000	9
+1	1	RC12_MAX	2000.000000000000000000	9
+1	1	RC12_MIN	1000.000000000000000000	9
 1	1	RC12_REV	1.000000000000000000	9
-1	1	RC12_TRIM	1499.000000000000000000	9
+1	1	RC12_TRIM	1500.000000000000000000	9
 1	1	RC13_DZ	0.000000000000000000	9
 1	1	RC13_MAX	2000.000000000000000000	9
 1	1	RC13_MIN	1000.000000000000000000	9
@@ -668,44 +668,44 @@
 1	1	RC18_TRIM	1500.000000000000000000	9
 1	1	RC1_DZ	10.000000000000000000	9
 1	1	RC1_MAX	2000.000000000000000000	9
-1	1	RC1_MIN	1000.000000000000000000	9
+1	1	RC1_MIN	1001.000000000000000000	9
 1	1	RC1_REV	1.000000000000000000	9
-1	1	RC1_TRIM	1500.000000000000000000	9
+1	1	RC1_TRIM	1499.000000000000000000	9
 1	1	RC2_DZ	10.000000000000000000	9
 1	1	RC2_MAX	2000.000000000000000000	9
-1	1	RC2_MIN	1000.000000000000000000	9
+1	1	RC2_MIN	1001.000000000000000000	9
 1	1	RC2_REV	1.000000000000000000	9
-1	1	RC2_TRIM	1500.000000000000000000	9
+1	1	RC2_TRIM	1501.000000000000000000	9
 1	1	RC3_DZ	10.000000000000000000	9
 1	1	RC3_MAX	2000.000000000000000000	9
-1	1	RC3_MIN	1000.000000000000000000	9
+1	1	RC3_MIN	1001.000000000000000000	9
 1	1	RC3_REV	1.000000000000000000	9
-1	1	RC3_TRIM	1500.000000000000000000	9
+1	1	RC3_TRIM	1001.000000000000000000	9
 1	1	RC4_DZ	10.000000000000000000	9
 1	1	RC4_MAX	2000.000000000000000000	9
-1	1	RC4_MIN	1000.000000000000000000	9
+1	1	RC4_MIN	1001.000000000000000000	9
 1	1	RC4_REV	1.000000000000000000	9
-1	1	RC4_TRIM	1500.000000000000000000	9
+1	1	RC4_TRIM	1507.000000000000000000	9
 1	1	RC5_DZ	10.000000000000000000	9
 1	1	RC5_MAX	1988.000000000000000000	9
 1	1	RC5_MIN	1011.000000000000000000	9
 1	1	RC5_REV	1.000000000000000000	9
-1	1	RC5_TRIM	1500.000000000000000000	9
+1	1	RC5_TRIM	1499.000000000000000000	9
 1	1	RC6_DZ	10.000000000000000000	9
 1	1	RC6_MAX	1988.000000000000000000	9
 1	1	RC6_MIN	1011.000000000000000000	9
 1	1	RC6_REV	1.000000000000000000	9
-1	1	RC6_TRIM	1500.000000000000000000	9
+1	1	RC6_TRIM	1499.000000000000000000	9
 1	1	RC7_DZ	10.000000000000000000	9
 1	1	RC7_MAX	1988.000000000000000000	9
 1	1	RC7_MIN	1011.000000000000000000	9
 1	1	RC7_REV	1.000000000000000000	9
-1	1	RC7_TRIM	1500.000000000000000000	9
+1	1	RC7_TRIM	1499.000000000000000000	9
 1	1	RC8_DZ	10.000000000000000000	9
 1	1	RC8_MAX	1988.000000000000000000	9
 1	1	RC8_MIN	1011.000000000000000000	9
 1	1	RC8_REV	1.000000000000000000	9
-1	1	RC8_TRIM	1500.000000000000000000	9
+1	1	RC8_TRIM	1499.000000000000000000	9
 1	1	RC9_DZ	0.000000000000000000	9
 1	1	RC9_MAX	2000.000000000000000000	9
 1	1	RC9_MIN	1000.000000000000000000	9
@@ -774,8 +774,8 @@
 1	1	SENS_BARO_QNH	1013.250000000000000000	9
 1	1	SENS_BARO_RATE	20.000000000000000000	9
 1	1	SENS_BOARD_ROT	0	6
-1	1	SENS_BOARD_X_OFF	-0.067400000989437103	9
-1	1	SENS_BOARD_Y_OFF	-0.318699985742568970	9
+1	1	SENS_BOARD_X_OFF	-0.587000012397766113	9
+1	1	SENS_BOARD_Y_OFF	-0.263300001621246338	9
 1	1	SENS_BOARD_Z_OFF	0.000000000000000000	9
 1	1	SENS_DPRES_OFF	0.000000000000000000	9
 1	1	SENS_GPS_MASK	7	6

Zachary Lowell 0

Yeah those parameters are changed when you calibrate some sensors. @Viktor-Gal can you try calibrating the imu_apps on your drones via voxl-calibrate-imu and then retry flying OVINS and see if that helps?

Viktor Gal

@Zachary-Lowell-0 so those params are after running voxl-configure-mpa; i still dont understand why there's a diff between the apparently same v2 starlings.

i can run the imu_apps calibration and retry OV.

Viktor Gal

@Zachary-Lowell-0 hey so i did what you suggested, here's the full output of openvins server but it's the very same behaviour; the qvio is nicely picking up the movements, openvins is just stationary on the portal. here are the detailed logs:

voxl2:~$ voxl-open-vins-server --verbosity 0
Setting printing level to: SILENT
Setting printing level to: ALL
Loading our own config file
=================================================================
=========================AUTO RESET==============================
en_auto_reset:                    1
auto_reset_max_velocity:          20.000
auto_reset_max_v_cov_instant:      0.100
auto_reset_max_v_cov:              0.100
auto_reset_max_v_cov_timeout_s:    0.500
auto_reset_min_features:          1
auto_reset_min_feature_timeout_s:  3.000
auto_fallback_timeout_s:  3.000
auto_fallback_min_v:  0.600
en_cont_yaw_checks: false
fast_yaw_thresh:  5.000
fast_yaw_timeout_s:  1.750
===========================STATE=================================
do fej:                           true
imu avg:                          true
use rk4 integration:              true
cam to imu refinement:            true
cam intrins refinement:           true
cam imu ts refinement:            true
max clone size:                   8
max slam features:                40
max slam in update:               25
max msckf in update:              25
feat rep msckf:                   ANCHORED_MSCKF_INVERSE_DEPTH
feat rep slam:                    ANCHORED_MSCKF_INVERSE_DEPTH
cam imu time offset:              0.00150
slam delay:                       1.00000
=================================================================
=====================INERTIAL INITIALIZER========================
gravity mag:                      9.80665
init window time:                 1.00000
init imu thresh:                  1.00000
init dyn use:                         false
=================================================================
==========================IMU NOISE==============================
imu sigma w:                      0.00014
imu sigma wb:                     0.00000
imu sigma a:                      0.00389
imu sigma ab:                     0.00006
=================================================================
========================FEATURE NOISE============================
msckf chi^2 multiplier:           1.00000
msckf sigma px:                   1.00000
slam chi^2 multiplier:            40.00000
slam sigma px:                    1.80000
zupt chi^2 multiplier:            1.00000
zupt sigma px:                    1.00000
=================================================================
=============================ZUPT================================
try zupt:                         true
zupt max velocity:                0.03000
zupt only at beginning:           true
zupt noise multiplier:            1.00000
zupt max disparity:               3.00000
=================================================================
use mask:                         true
use stereo:                       false
use baro:                       false
=================================================================
========================FEATURE INITIALIZER======================
triangulate 1d:                   false
refine features:                  false
max runs:                         5
init lamda:                       0.00100
max lamda:                        10000000000.00000
min dx:                           0.00000
min dcost:                        0.00000
lam mult:                         10.00000
min dist:                         0.10000
max dist:                         60.00000
max baseline:                     40.00000
num_opencv_threads:                  9
fast_threshold:                  15
histogram_method:                  HISTOGRAM
knn_ratio:                  0.70000
track_frequency:                  15.00000
publish_frequency:                  3
imu takeoff accel thresh:                  0.10000
force init on takeoff:                  false
use takeoff_camera_as:                  0
takeoff_threshold(m):                  -0.100000
publish stats:                  false
max_allowable_cep:                  1.00000
force FLU to NED transform:                  false
VIO always on (for bench testing):                  false
=================================================================
=================================================================
Number of cameras found for this config: 1
[INFO] External feature trackers being used? false
camera count: 1
MONO mode (using cam idx: 0)
Number of cameras found for this config: 1
[INFO] External feature trackers being used? false
camera count: 1
MONO mode (using cam idx: 0)
Skipping camera group index: 2, not enabled
Loading OpenCV intrinsics cal file from: /data/modalai/opencv_tracking_front_intrinsics.yml
Loading OpenCV intrinsics cal file from: /data/modalai/opencv_tracking_down_intrinsics.yml
cam_load_extrinsics_file
World Rotation Matrix:
 1.000000  0  0
 0  1.000000  0
 0  0  1.000000

load extrinsics 2
Using extrinsics under camera ID: tracking_front
[INFO] Camera: 0 -- converted extrinsics *in FLU* are: Roll: -0.000000, Pitch 90.000000, Yaw -90.000000
(local) CAMERA ROTATION MATRIX:
[0, 0, 1;
 -1, 0, 0;
 0, -1, 0]
(local) CAMERA TRANSLATION:
  0.037
     -0
-0.0006
Using extrinsics under camera ID: tracking_down
[INFO] Camera: 1 -- converted extrinsics *in FLU* are: Roll: -0.000000, Pitch 180.000000, Yaw -360.000000
(local) CAMERA ROTATION MATRIX:
[-1, 0, 0;
 0, 1, 0;
 0, 0, -1]
(local) CAMERA TRANSLATION:
-0.08825
  0.0045
-0.00269
Done transfer camera configuration transfer
=================================================================
==========================CAMERA 0================================
name:                             tracking_front
mode:                             MONO
camera matrix:
460.27780 0.00000 621.21213
0.00000 459.85438 408.51998
0.00000 0.00000 1.00000

distortion coefficients:
0.05324 0.02329 -0.00926 0.00026
==========================CAMERA 1================================
name:                             tracking_front
mode:                             MONO
camera matrix:
462.04073 0.00000 660.98324
0.00000 462.09738 397.45450
0.00000 0.00000 1.00000

distortion coefficients:
0.04984 0.04004 -0.02646 0.00611
=============================KLT=================================
num_features_to_track:            30
grid_x:                           5
grid_y:                           5
min_pix_dist:                     50
pyramid_levels:                   5
[block] window_size:                 (25 x 25)
===========================KLTGYRO===============================
tmp_imu_name:                         imu_apps
tracking_front wrt imu_apps:
0.00000 0.00000 1.00000
-1.00000 0.00000 0.00000
0.00000 -1.00000 0.00000
tracking_down wrt imu_apps:
-1.00000 0.00000 0.00000
0.00000 1.00000 0.00000
0.00000 0.00000 -1.00000
Loading external config file
=====> imu to read from: imu
OpenVINS using fisheye camera
OpenVINS FINAL Cam extrinsics to IMU for tracking_front: 7
    -0.5
    0.5
   -0.5
    0.5
  0.037
     -0
-0.0006
OpenVINS using fisheye camera
OpenVINS FINAL Cam extrinsics to IMU for tracking_down: 7
 -1.22465e-16
          -1
 -7.4988e-33
-6.12323e-17
    -0.08825
      0.0045
    -0.00269
 ++++++++++++++++++++++++++

OpenVINS reports number of cameras being used, regardless of delivery method (pipe, merge, etc...):  2

 ++++++++++++++++++++++++++
VioManagerOptions.h:108 ESTIMATOR PARAMETERS:
StateOptions.h:108   - use_fej: 1
StateOptions.h:109   - use_imuavg: 1
StateOptions.h:110   - use_rk4int: 1
StateOptions.h:111   - calib_cam_extrinsics: 1
StateOptions.h:112   - calib_cam_intrinsics: 1
StateOptions.h:113   - calib_cam_timeoffset: 1
StateOptions.h:114   - max_clones: 8
StateOptions.h:115   - max_slam: 40
StateOptions.h:116   - max_slam_in_update: 25
StateOptions.h:117   - max_msckf_in_update: 25
StateOptions.h:118   - max_aruco: 1024
StateOptions.h:119   - max_cameras: 2
StateOptions.h:120   - feat_rep_msckf: ANCHORED_MSCKF_INVERSE_DEPTH
StateOptions.h:121   - feat_rep_slam: ANCHORED_MSCKF_INVERSE_DEPTH
StateOptions.h:122   - feat_rep_aruco: GLOBAL_3D
InertialInitializerOptions.h:125 INITIALIZATION SETTINGS:
InertialInitializerOptions.h:150   - init_window_time: 1.00
InertialInitializerOptions.h:151   - init_imu_thresh: 1.00
InertialInitializerOptions.h:152   - init_max_disparity: 3.00
InertialInitializerOptions.h:153   - init_max_features: 0.00
InertialInitializerOptions.h:171   - init_dyn_use: 0
InertialInitializerOptions.h:172   - init_dyn_mle_opt_calib: 0
InertialInitializerOptions.h:173   - init_dyn_mle_max_iter: 20
InertialInitializerOptions.h:174   - init_dyn_mle_max_threads: 20
InertialInitializerOptions.h:175   - init_dyn_mle_max_time: 2.00
InertialInitializerOptions.h:176   - init_dyn_num_pose: 8
InertialInitializerOptions.h:177   - init_dyn_min_deg: 45.00
InertialInitializerOptions.h:178   - init_dyn_inflation_ori: 1.00e+01
InertialInitializerOptions.h:179   - init_dyn_inflation_vel: 1.00e+01
InertialInitializerOptions.h:180   - init_dyn_inflation_bg: 1.00e+02
InertialInitializerOptions.h:181   - init_dyn_inflation_ba: 1.00e+02
InertialInitializerOptions.h:182   - init_dyn_min_rec_cond: 1.00e-15
InertialInitializerOptions.h:188   - init_dyn_bias_g: 0.00, 0.00, 0.00
InertialInitializerOptions.h:189   - init_dyn_bias_a: 0.00, 0.00, 0.00
InertialInitializerOptions.h:216 NOISE PARAMETERS:
InertialInitializerOptions.h:224   - gyroscope_noise_density: 0.000170
InertialInitializerOptions.h:225   - accelerometer_noise_density: 0.00200
InertialInitializerOptions.h:226   - gyroscope_random_walk: 0.0000194
InertialInitializerOptions.h:227   - accelerometer_random_walk: 0.003000
InertialInitializerOptions.h:228   - sigma_pix: 1.00
InertialInitializerOptions.h:318 STATE PARAMETERS:
InertialInitializerOptions.h:319   - gravity_mag: 9.8066
InertialInitializerOptions.h:320   - gravity: 0.000, 0.000, 9.807
InertialInitializerOptions.h:321   - num_cameras: 2
InertialInitializerOptions.h:322   - use_stereo: 0
InertialInitializerOptions.h:323   - downsize cameras: 0
InertialInitializerOptions.h:332   - calib_camimu_dt: 0.0000
InertialInitializerOptions.h:348 cam_0_fisheye:1
cam_0_wh:
1280 x 800
cam_0_intrinsic(0:3):
460.278 459.854 621.212  408.52
cam_0_intrinsic(4:7):
  0.0532387   0.0232891  -0.0092603 0.000263136
cam_0_extrinsic(0:3):
-0.5  0.5 -0.5  0.5
cam_0_extrinsic(4:6):
  0.037      -0 -0.0006
T_C0toI:
           0  2.22045e-16            1       0.0006
          -1  2.22045e-16            0        0.037
-2.22045e-16           -1  2.22045e-16  8.34888e-18
           0            0            0            1

InertialInitializerOptions.h:348 cam_1_fisheye:1
cam_1_wh:
1280 x 800
cam_1_intrinsic(0:3):
462.041 462.097 660.983 397.455
cam_1_intrinsic(4:7):
 0.0498391   0.040037 -0.0264578  0.0061076
cam_1_extrinsic(0:3):
-1.22465e-16           -1  -7.4988e-33 -6.12323e-17
cam_1_extrinsic(4:6):
-0.08825   0.0045 -0.00269
T_C1toI:
          -1  2.44929e-16  1.22465e-16     -0.08825
 2.44929e-16            1            0      -0.0045
-1.22465e-16  2.99952e-32           -1     -0.00269
           0            0            0            1

VioManagerOptions.h:121   - dt_slam_delay: 1.0
VioManagerOptions.h:122   - zero_velocity_update: 1
VioManagerOptions.h:123   - zupt_max_velocity: 0.03
VioManagerOptions.h:124   - zupt_noise_multiplier: 1.00
VioManagerOptions.h:125   - zupt_max_disparity: 3.0000
VioManagerOptions.h:126   - zupt_only_at_beginning?: 1
VioManagerOptions.h:127   - record timing?: 0
VioManagerOptions.h:128   - record timing filepath: ov_msckf_timing.txt
VioManagerOptions.h:155 NOISE PARAMETERS:
NoiseManager.h:62   - gyroscope_noise_density: 0.000140
NoiseManager.h:63   - accelerometer_noise_density: 0.00389
NoiseManager.h:64   - gyroscope_random_walk: 0.0000004
NoiseManager.h:65   - accelerometer_random_walk: 0.000055
VioManagerOptions.h:179   Updater MSCKF Feats:
UpdaterOptions.h:45     - chi2_multipler: 1.0
UpdaterOptions.h:46     - sigma_pix: 1.00
VioManagerOptions.h:181   Updater SLAM Feats:
UpdaterOptions.h:45     - chi2_multipler: 40.0
UpdaterOptions.h:46     - sigma_pix: 1.80
VioManagerOptions.h:183   Updater ARUCO Tags:
UpdaterOptions.h:45     - chi2_multipler: 5.0
UpdaterOptions.h:46     - sigma_pix: 1.00
VioManagerOptions.h:185   Updater ZUPT:
UpdaterOptions.h:45     - chi2_multipler: 1.0
UpdaterOptions.h:46     - sigma_pix: 1.00
VioManagerOptions.h:292 STATE PARAMETERS:
VioManagerOptions.h:293   - gravity_mag: 9.8100
VioManagerOptions.h:294   - gravity: 0.000, 0.000, 9.810
VioManagerOptions.h:295   - camera masks?: 1
VioManagerOptions.h:304   - calib_camimu_dt: 0.0015
VioManagerOptions.h:320 cam_0_fisheye:1
cam_0_wh:
1280 x 800
cam_0_intrinsic(0:3):
460.278 459.854 621.212  408.52
cam_0_intrinsic(4:7):
  0.0532387   0.0232891  -0.0092603 0.000263136
cam_0_extrinsic(0:3):
-0.5  0.5 -0.5  0.5
cam_0_extrinsic(4:6):
  0.037      -0 -0.0006
T_C0toI:
           0  2.22045e-16            1       0.0006
          -1  2.22045e-16            0        0.037
-2.22045e-16           -1  2.22045e-16  8.34888e-18
           0            0            0            1

VioManagerOptions.h:320 cam_1_fisheye:1
cam_1_wh:
1280 x 800
cam_1_intrinsic(0:3):
462.041 462.097 660.983 397.455
cam_1_intrinsic(4:7):
 0.0498391   0.040037 -0.0264578  0.0061076
cam_1_extrinsic(0:3):
-1.22465e-16           -1  -7.4988e-33 -6.12323e-17
cam_1_extrinsic(4:6):
-0.08825   0.0045 -0.00269
T_C1toI:
          -1  2.44929e-16  1.22465e-16     -0.08825
 2.44929e-16            1            0      -0.0045
-1.22465e-16  2.99952e-32           -1     -0.00269
           0            0            0            1

VioManagerOptions.h:426 FEATURE TRACKING PARAMETERS:
VioManagerOptions.h:427   - use_stereo: 0
VioManagerOptions.h:428   - use_klt: 1
VioManagerOptions.h:429   - use_aruco: 0
VioManagerOptions.h:430   - downsize aruco: 1
VioManagerOptions.h:431   - downsize cameras: 0
VioManagerOptions.h:432   - num opencv threads: 9
VioManagerOptions.h:433   - use multi-threading pubs: 1
VioManagerOptions.h:434   - use multi-threading subs: 1
VioManagerOptions.h:435   - num_pts: 30
VioManagerOptions.h:436   - fast threshold: 15
VioManagerOptions.h:437   - grid X by Y: 5 by 5
VioManagerOptions.h:438   - min px dist: 50
VioManagerOptions.h:439   - hist method: 1
VioManagerOptions.h:440   - knn ratio: 0.700
VioManagerOptions.h:441   - track frequency: 15.0
VioManagerOptions.h:442   - limit imu propagation (windows based on init_imu+cam-imu delay): 1
FeatureInitializerOptions.h:87 	- triangulate_1d: 0
FeatureInitializerOptions.h:88 	- refine_features: 0
FeatureInitializerOptions.h:89 	- max_runs: 5
FeatureInitializerOptions.h:90 	- init_lamda: 0.001
FeatureInitializerOptions.h:91 	- max_lamda: 10000000000.000
FeatureInitializerOptions.h:92 	- min_dx: 0.0000010
FeatureInitializerOptions.h:93 	- min_dcost: 0.0000010
FeatureInitializerOptions.h:94 	- lam_mult: 10.000
FeatureInitializerOptions.h:95 	- min_dist: 0.100
FeatureInitializerOptions.h:96 	- max_dist: 60.000
FeatureInitializerOptions.h:97 	- max_baseline: 40.000
FeatureInitializerOptions.h:98 	- max_cond_number: 600000.000
Set camera intrinsics and extrinsics

====> Using Internal KLT feature tracker <====
>>>>>>>>>> Current reference counts:
trackDB: 1
trackFEATS: 1
propagator: 2
updaterMSCKF: 1
updaterSLAM: 1
active_tracks_initializer: 1
initializer: 1
setting scheduler
INFO: set FIFO priority successfully!
create_server_pipes
connecting client pipes
Number of Cameras active: 2
Camera merge --- > ch: 1 to cam id: 0
Opening camera pipe: tracking_front
tmp_camera_pipe_names.push_back(): tracking_front
Camera merge --- > ch: 2 to cam id: 1
Opening camera pipe: tracking_down
tmp_camera_pipe_names.push_back(): tracking_down
imu pipe name: imu_apps
Camera processing thread is now locked to the following cores: 7
VioManager.cpp:454 [TIME]: 0.0358 seconds for tracking
VioManagerHelper.cpp:174 [init]: failed initialization in 0.0000 seconds
VioManager.cpp:454 [TIME]: 0.0139 seconds for tracking
InertialInitializer.cpp:127 [init]: not enough feats to compute disp: 0,0 < 15
VioManagerHelper.cpp:174 [init]: failed initialization in 0.0002 seconds
VioManager.cpp:454 [TIME]: 0.0170 seconds for tracking
InertialInitializer.cpp:127 [init]: not enough feats to compute disp: 0,0 < 15
VioManagerHelper.cpp:174 [init]: failed initialization in 0.0003 seconds
VioManager.cpp:454 [TIME]: 0.0162 seconds for tracking
InertialInitializer.cpp:127 [init]: not enough feats to compute disp: 0,62 < 15
VioManagerHelper.cpp:174 [init]: failed initialization in 0.0001 seconds
VioManager.cpp:454 [TIME]: 0.0112 seconds for tracking
InertialInitializer.cpp:127 [init]: not enough feats to compute disp: 0,62 < 15
VioManagerHelper.cpp:174 [init]: failed initialization in 0.0003 seconds
VioManager.cpp:454 [TIME]: 0.0175 seconds for tracking
InertialInitializer.cpp:127 [init]: not enough feats to compute disp: 0,62 < 15
VioManagerHelper.cpp:174 [init]: failed initialization in 0.0002 seconds
VioManager.cpp:454 [TIME]: 0.0156 seconds for tracking
InertialInitializer.cpp:127 [init]: not enough feats to compute disp: 0,62 < 15
VioManagerHelper.cpp:174 [init]: failed initialization in 0.0003 seconds
VioManager.cpp:454 [TIME]: 0.0105 seconds for tracking
InertialInitializer.cpp:127 [init]: not enough feats to compute disp: 0,62 < 15
VioManagerHelper.cpp:174 [init]: failed initialization in 0.0003 seconds
VioManager.cpp:454 [TIME]: 0.0169 seconds for tracking
InertialInitializer.cpp:134 [init]: *** disparity is 0.000,0.000 (3.00 thresh)
InertialInitializer.cpp:145 [init]: USING STATIC INITIALIZER METHOD!
IMU samples too small, make your window smaller (params.init_window_time), can't initalize 241.141469 - 240.222589  (0.918880)
StaticInitializer.cpp:55 [init-s]: unable to select window of IMU readings, not enough readings
VioManagerHelper.cpp:174 [init]: failed initialization in 0.0004 seconds
VioManager.cpp:454 [TIME]: 0.0115 seconds for tracking
InertialInitializer.cpp:134 [init]: *** disparity is 0.000,0.000 (3.00 thresh)
InertialInitializer.cpp:145 [init]: USING STATIC INITIALIZER METHOD!
StaticInitializer.cpp:104 [init-s]: IMU excitation stats: 0.029,0.014
VioManagerHelper.cpp:138 [init]: successful initialization in 0.0008 seconds
VioManagerHelper.cpp:140 [init]: orientation = -0.0029, 0.0025, 0.0000, 1.0000
VioManagerHelper.cpp:142 [init]: bias gyro = 0.0025, 0.0000, 0.0016
VioManagerHelper.cpp:144 [init]: velocity = 0.0000, 0.0000, 0.0000
VioManagerHelper.cpp:146 [init]: bias accel = 0.0000, 0.0000, -0.0046
VioManagerHelper.cpp:148 [init]: position = 0.0000, 0.0000, 0.0000
VioManagerHelper.cpp:168 [init]: moved the state forward 0.00 seconds
StateHelper.cpp:686 new augment clone at timestamp: 241.367844
waiting for enough clone states (1 of 5)....
[INFO] TAKEOFF: DISPARITY disturbed, possible motion detected. Avg: 91.364071 (3.000000)	# feats: 5 (20).
UpdaterZeroVelocity.cpp:242 [ZUPT]: failed disparity (91.364 > 3.000, 5 features)
UpdaterZeroVelocity.cpp:255 [ZUPT]: accepted |v_IinG| = 0.003 (chi2 99.575 < 113.145)
[INFO] TAKEOFF: DISPARITY disturbed, possible motion detected. Avg: 0.000000 (3.000000)	# feats: 5 (20).
UpdaterZeroVelocity.cpp:242 [ZUPT]: failed disparity (0.000 > 3.000, 5 features)
UpdaterZeroVelocity.cpp:255 [ZUPT]: accepted |v_IinG| = 0.007 (chi2 62.236 < 106.395)
UpdaterZeroVelocity.cpp:233 [ZUPT]: passed disparity (0.000 < 3.000, 40 features)
UpdaterZeroVelocity.cpp:255 [ZUPT]: accepted |v_IinG| = 0.004 (chi2 88.421 < 119.871)
UpdaterZeroVelocity.cpp:233 [ZUPT]: passed disparity (0.000 < 3.000, 40 features)
UpdaterZeroVelocity.cpp:255 [ZUPT]: accepted |v_IinG| = 0.004 (chi2 96.190 < 119.871)
UpdaterZeroVelocity.cpp:233 [ZUPT]: passed disparity (0.000 < 3.000, 40 features)
UpdaterZeroVelocity.cpp:255 [ZUPT]: accepted |v_IinG| = 0.003 (chi2 132.910 < 119.871)
UpdaterZeroVelocity.cpp:233 [ZUPT]: passed disparity (0.000 < 3.000, 40 features)
UpdaterZeroVelocity.cpp:255 [ZUPT]: accepted |v_IinG| = 0.003 (chi2 95.202 < 119.871)
UpdaterZeroVelocity.cpp:233 [ZUPT]: passed disparity (0.000 < 3.000, 40 features)
UpdaterZeroVelocity.cpp:255 [ZUPT]: accepted |v_IinG| = 0.003 (chi2 76.613 < 106.395)
UpdaterZeroVelocity.cpp:233 [ZUPT]: passed disparity (0.000 < 3.000, 40 features)
UpdaterZeroVelocity.cpp:255 [ZUPT]: accepted |v_IinG| = 0.002 (chi2 105.215 < 113.145)
UpdaterZeroVelocity.cpp:233 [ZUPT]: passed disparity (0.000 < 3.000, 40 features)
UpdaterZeroVelocity.cpp:255 [ZUPT]: accepted |v_IinG| = 0.002 (chi2 86.990 < 119.871)

Zachary Lowell 0

@Viktor-Gal said in Timeline for open-vins documentation:

i can run the imu_apps calibration and retry OV.

1 Reply Last reply about 15 hours ago Reply

a day ago

@Zachary-Lowell-0 so those params are after running voxl-configure-mpa; i still dont understand why there's a diff between the apparently same v2 starlings.

i can run the imu_apps calibration and retry OV.

RE: No you are sending the PX4 parameters not the voxl2 parameters. Runnign voxl-configure-mpa will configure some px4 parameters, but after you open up qgc and then calibrateall the sensors in there, it will change some of those parameters, hence why those specific to imu calibration and mag cal are different from drone to drone. I highly recommend sticking to qvio with single camera tracking for now as OVINS is still heavily in development.

Viktor Gal

@Zachary-Lowell-0 i hear you, but could you maybe give some pointers how one could make the qvio more stable? as i said it is at the moment only has 25% success rate: meaning 1 out of 5 flights i dont have problems with the qvio, the rest of the time the drone becomes unstable and crashes.

Moderator

@Viktor-Gal have you read through the troubleshooting VIO documentation? https://docs.modalai.com/flying-with-vio/#troubleshooting-vio

Viktor Gal

@Moderator yep, back and forth. unfortunately no change.

Viktor Gal

@Moderator et.al. i just want to follow up that switching to the nightly builds that uses out of box the openvins implementation for VIO, is significantly better than the qvio. in other words, it actually fixed all the problems that we were facing with the QVIO.

Eric Katzfey

@Viktor-Gal Excellent, thanks for the feedback!

star123

I'll put a question here since it's open-vins documentation related. I also am successfully running nightly builds of open-vins, and it is working well for me.

I would like to add image masks to the tracking cameras to block out certain areas. I see the option "use_mask" in voxl-open-vins-server.conf, which I can set to true. I can't figure out where to put the mask files, or how to specify their path and file name?

If this should be a separate thread, please let me know and I can move my question elsewhere, cheers!

dlee

@star123 What does nightly mean? The latest version of voxl-open-vins-server or voxl-suite. Thanks.

tom

@dlee We publish "nightly" SDK builds at https://storage.googleapis.com/platform-nightlies/voxl2/voxl2_SDK_nightly_20250213.tar.gz (URL will match yesterday's date, PST)

This takes the latest of each repo's dev branch as well as the latest system image built every night

Cliff Wong

@star123 At this time masks are supported through programmatic means only.

I'll add it to our feature list for the next release and should be in our nightly builds by mid-next week. If you take a look at /data/modalai/zero_ref.jpg is an example format to give you an idea when the feature is ready.

dlee

@Viktor-Gal I am troubling localization with QVIO. So I wanted to change vio algorithm to OpenVINS. I flashed my drone to nightly version but openvins still very unstable. Could you give me some guidance for openvins?

Questions

openvins configuration & versions
Did you enable the voxl-feature-tracker?
camera settings (single or multi, camera model, etc)

My status

voxl-suite: 1.4.1-202502132201
Camera: old-version of tracking camera (640x480) - link
voxl-open-vins-server: 0.3.0-202502061726
voxl-feature-tracker: 0.5.2-202412171357

ModalAI Forum

Timeline for open-vins documentation