voxl-open-vins-server???

tkddnjs825

I have a question.
I am currently using VOXL2 with SDK 1.4.1 and utilizing dual tracking with the M0173 module. Since I am only flying indoors, I have not attached a GPS module.

I am using voxl-open-vins-server, but I noticed that the documentation and the configuration file contents for voxl-open-vins-server are different.

Could you provide a summary of the correct voxl-open-vins-server setup for SDK 1.4.1?

James Strawson

voxl-openvins-server is under rapid development at the moment and I expect the entire configuration file to be cleaned up dramatically quite soon. After that point the configuration file contents will stabilize and we will update the documentation to match. Fully documenting the current state would be a wasted effort.

It should not be necessary to modify the configuration file. When flashing the 1.4.1 SDK a new default config file will have been made. What differs from drone-to-drone is the physical layout of the cameras and IMU which is defined by /etc/modalai/extrinsics.conf as well as the cameras that should be used for vio which is set up in /etc/modalai/vio_cams.conf

tkddnjs825

@James-Strawson
"takeoff_cam": Tells OpenVINS which camera to use for takeoff. This should be a camera where "is_occluded_on_ground" is set to false in vio_cams.conf. Besides this setting, what else needs to be configured?