VOXL LOW_FEATURES

wilkinsaf

Hello,

I am attempting to get VIO to work.
I know it is not working because I can not see x & y go to non-zero values in QGC.

My main concern is when I run "voxl-inspect-qvio" I see this

It seems like the cameras are not picking up on things that are "interesting". Or anything they can use for reference to see movement.

When running voxl-vision-px4 -o no debug statements are sent after initial startup output

voxl-vision-px4

yocto:/# sudo systemctl status voxl-vision-px4 -l
● voxl-vision-px4.service - voxl-vision-px4
   Loaded: loaded (/usr/bin/voxl-vision-px4; enabled; vendor preset: enabled)
   Active: active (running) since Thu 1970-01-01 00:00:23 UTC; 10min ago
  Process: 2083 ExecStartPre=/bin/sleep 2 (code=exited, status=0/SUCCESS)
 Main PID: 2344 (voxl-vision-px4)
   CGroup: /system.slice/voxl-vision-px4.service
           └─2344 /usr/bin/voxl-vision-px4

Jan 01 00:00:26 apq8096 voxl-vision-px4[2344]: T_child_wrt_parent:    0.000   0.000   0.100
Jan 01 00:00:26 apq8096 voxl-vision-px4[2344]: RPY_parent_to_child:   0.0     0.0     0.0
Jan 01 00:00:26 apq8096 voxl-vision-px4[2344]: R_child_to_parent:     1.000  -0.000   0.000
Jan 01 00:00:26 apq8096 voxl-vision-px4[2344]: 0.000   1.000  -0.000
Jan 01 00:00:26 apq8096 voxl-vision-px4[2344]: 0.000   0.000   1.000
Jan 01 00:00:26 apq8096 voxl-vision-px4[2344]: starting geometry module
Jan 01 00:00:26 apq8096 voxl-vision-px4[2344]: starting uart mavlink
Jan 01 00:00:26 apq8096 voxl-vision-px4[2344]: Successfully opened mavparser
Jan 01 00:00:26 apq8096 voxl-vision-px4[2344]: starting WARNING: invalid qgc_ip, this is fine if you don't want to use it
Jan 01 00:00:27 apq8096 voxl-vision-px4[2344]: VIO reported failure

voxl-qvio-server

sudo systemctl status voxl-qvio-server -l
● voxl-qvio-server.service - voxl-qvio-server
   Loaded: loaded (/usr/bin/voxl-qvio-server; enabled; vendor preset: enabled)
   Active: active (running) since Thu 1970-01-01 00:00:21 UTC; 10min ago
 Main PID: 2119 (voxl-qvio-serve)
   CGroup: /system.slice/voxl-qvio-server.service
           └─2119 /usr/bin/voxl-qvio-server

Jan 01 00:00:21 apq8096 systemd[1]: Started voxl-qvio-server.
Jan 01 00:09:17 apq8096 voxl-qvio-server[2119]: ERROR waited more than 0.2 seconds for imu to catch up, dropping frame
Jan 01 00:09:17 apq8096 voxl-qvio-server[2119]: ERROR waited more than 0.2 seconds for imu to catch up, dropping frame

voxl-imu-server

yocto:/# sudo systemctl status voxl-imu-server -l
● voxl-imu-server.service - voxl-imu-server
   Loaded: loaded (/usr/bin/voxl-imu-server; enabled; vendor preset: enabled)
   Active: active (running) since Thu 1970-01-01 00:00:22 UTC; 11min ago
  Process: 1976 ExecStartPre=/bin/sleep 2 (code=exited, status=0/SUCCESS)
 Main PID: 2251 (voxl-imu-server)
   CGroup: /system.slice/voxl-imu-server.service
           └─2251 /usr/bin/voxl-imu-server

Jan 01 00:00:20 apq8096 systemd[1]: Starting voxl-imu-server...
Jan 01 00:00:22 apq8096 systemd[1]: Started voxl-imu-server.

voxl-camera-server

yocto:/# sudo systemctl status voxl-camera-server -l
● voxl-camera-server.service - voxl-camera-server
   Loaded: loaded (/usr/bin/voxl-camera-server; enabled; vendor preset: enabled)
   Active: active (running) since Thu 1970-01-01 00:00:24 UTC; 11min ago
 Main PID: 2496 (voxl-camera-ser)
   CGroup: /system.slice/voxl-camera-server.service
           └─2496 /usr/bin/voxl-camera-server -c /etc/modalai/voxl-camera-server.conf

Jan 01 00:00:27 apq8096 bash[2496]: OverrideId : -1
Jan 01 00:00:27 apq8096 bash[2496]: AEAlgo     : mvcpa
Jan 01 00:00:27 apq8096 bash[2496]: mvcpa_filter_size    : 2
Jan 01 00:00:27 apq8096 bash[2496]: mvcpa_exp_cost       : 0.7500
Jan 01 00:00:27 apq8096 bash[2496]: mvcpa_gain_cost      : 0.2500
Jan 01 00:00:27 apq8096 bash[2496]: mvcpa_histogram      : true
Jan 01 00:00:27 apq8096 bash[2496]: Creating pipe: /run/mpa/stereo/ channel: 0
Jan 01 00:00:27 apq8096 bash[2496]: Creating pipe: /run/mpa/tracking/ channel: 1
Jan 01 00:00:27 apq8096 bash[2496]: tracking
Jan 01 00:00:27 apq8096 bash[2496]: Camera Width: 640, Height: 480, Format: 291 not supported!

Any insight/help would be appreciated. Thank you

Voxl-camera-server seems to have encountered an error trying to open the tracking camera, have you run voxl-configure-cameras with your correct camera setup? This will lead to qvio not seeing any features since its not getting any camera frames.

wilkinsaf

Yes, I ran voxl-configure-cameras and selected the correct camera configuration.

It is weird that it can not open the tracking camera. I believe that there is some way to pull up the camera and verify it is working correct?

I believe it was some ROS launch script. Let me see if I can get the tracking camera up, and will respond when I can verify that it is working.

Thank you!

wilkinsaf

Hello,

I am still struggling with opening the tracking camera. I tried to open the camera with RTSP, but can not open it.

https://drive.google.com/file/d/1z87ojOkd7z7fD0KoDqTtHfuTqVG2Ydov/view?usp=sharing

The hi-res cameras are working, but the tracking camera is not.

Chad Sweet

Some possibilities:

The tracking camera is not properly connected
The tracking camera is plugged in backwards
There is another process that is accessing the tracking camera preventing voxl-camera-server from accessing. If you tried the old ROS packages, this could be an issue.
voxl-configure-cameras does not match what is actually installed. You need to specify the installed configuration, not a subset of what you want to use.

Can you reboot and make sure no other processes are accessing the cameras?

Did you purchase a flight deck? All of this would be pre-configured and tested prior to shipping, so maybe you installed new software?

Chad Sweet

Your video points to a bad camera configuration. The tracking camera cannot produce the resolution that VLC is receiving.