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    VOXL LOW_FEATURES

    VOXL Flight
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    • wilkinsafW
      wilkinsaf ModalAI Team
      last edited by

      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
      7460ef47-09cd-4b85-9c5e-727c8bbfabef-image.png

      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

      1 Reply Last reply Reply Quote 0
      • ?
        A Former User
        last edited by

        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.

        1 Reply Last reply Reply Quote 0
        • wilkinsafW
          wilkinsaf ModalAI Team
          last edited by

          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!

          1 Reply Last reply Reply Quote 0
          • wilkinsafW
            wilkinsaf ModalAI Team
            last edited by

            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.

            1 Reply Last reply Reply Quote 0
            • Chad SweetC
              Chad Sweet ModalAI Team
              last edited by

              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?

              1 Reply Last reply Reply Quote 0
              • Chad SweetC
                Chad Sweet ModalAI Team
                last edited by

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

                1 Reply Last reply Reply Quote 0
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