Starling 2 VIO Failure
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Hello! I am struggling to resolve an issue with our starling 2. In the process of building and deploying our own offboard mode, it seems that we have introduced a problem. We have since cloned the voxl-vision-hub repo, and built and deployed it in attempt to get back to square one. We cannot get VIO to work properly anymore. Please help me determine how to make progress!
Background:
system-image: 1.8.04-M0054-14.1a-perf kernel: #1 SMP PREEMPT Mon Mar 24 22:31:58 UTC 2025 4.19.125 ──────────────────────────────────────────────────────────────────────────────── hw platform: M0054 mach.var: 1.0.1 SKU: MRB-D0014-4-V1-C27-T7-M22-X0 ──────────────────────────────────────────────────────────────────────────────── voxl-suite: 1.5.0 ───────────────────────────────────────── voxl2:/$ voxl-inspect-services Scanning services... Service Name | Enabled | Running | CPU Usage ─────────────────────────────────────────────────────────────────── docker-autorun | Disabled | Not Running | modallink-relink | Disabled | Not Running | voxl-camera-server | Enabled | Running | 75.0% voxl-cpu-monitor | Enabled | Running | 0.0% voxl-dfs-server | Disabled | Not Running | voxl-elrs-startup | Disabled | Not Running | voxl-feature-tracker | Disabled | Not Running | voxl-flow-server | Disabled | Not Running | voxl-imu-server | Enabled | Running | 1.9% voxl-joystick-server | Disabled | Not Running | voxl-lepton-server | Disabled | Not Running | voxl-lepton-tracker | Disabled | Not Running | voxl-logger | Disabled | Not Running | voxl-mavcam-manager | Enabled | Running | 0.0% voxl-mavlink-server | Enabled | Running | 1.9% voxl-mini-tof-server | Disabled | Not Running | voxl-modem-doodle | Disabled | Not Running | voxl-modem | Disabled | Not Running | voxl-open-vins-server | Enabled | Running | 82.7% voxl-osd | Disabled | Not Running | voxl-portal | Enabled | Running | 0.0% voxl-px4 | Enabled | Running | 25.0% voxl-qvio-server | Enabled | Running | 34.6% voxl-rangefinder-server | Enabled | Running | 0.0% voxl-remote-id | Disabled | Not Running | voxl-seek-server | Disabled | Not Running | voxl-softap | Disabled | Not Running | voxl-state-estimator | Disabled | Not Running | voxl-static-ip | Disabled | Not Running | voxl-streamer | Enabled | Running | 0.0% voxl-tag-detector | Disabled | Not Running | voxl-tflite-server | Disabled | Not Running | voxl-time-sync | Disabled | Not Running | voxl-uvc-server | Disabled | Not Running | voxl-vision-hub | Enabled | Not Running | voxl-vrx | Disabled | Not Running | voxl-vtx | Disabled | Not Running | voxl-wait-for-fs | Enabled | Completed |Here is the message we get when running voxl-vision-hub -o (important part at bottom):
voxl2:/$ voxl-vision-hub -o loading our own config file ================================================================= Parameters as loaded from config file: config_file_version: 1 MAVROS / MAVSDK en_localhost_mavlink_udp 0 localhost_udp_port_number: 14551 VIO en_vio: 1 vio_pipe: qvio secondary_vio_pipe: ov en_reset_vio_if_initialized_inverted: 1 vio_warmup_s: 10.000000 send_odom_while_failed: 1 MISC FEATURES horizon_cal_tolerance: 0.500000 en_hitl: 0 OFFBOARD MODE offboard_mode: figure_eight follow_tag_id: 0 figure_eight_move_home: 1 wps_move_home: 1 wps_timeout: 0.000000 wps_damp: 1.000000 wps_vfc_mission: true wps_vfc_mission_loop: false wps_vfc_mission_to_ramp: 25.000000 wps_vfc_mission_cruise_speed: 1.000000 wps_vfc_mission_to_kp: 0.100000 robot_radius: 0.300000 collision_sampling_dt: 0.100000 max_lookahead_distance: 1.000000 backtrack_seconds : 60 backtrack_rc_chan : 8 backtrack_rc_thresh : 1500 FIXED FRAME RELOCALIZATION en_tag_fixed_frame: 0 fixed_frame_filter_len: 5 en_transform_mavlink_pos_setpoints_from_fixed_frame:0 VOXL FLIGHT CONTROLLER (VFC) vfc_rate 100.000000 vfc_rc_chan_min 980 vfc_rc_chan_max 2020 vfc_thrust_ch 3 vfc_roll_ch 1 vfc_pitch_ch 2 vfc_yaw_ch 4 vfc_submode_ch 6 vfc_alt_mode_rc_min 0 vfc_alt_mode_rc_max 0 vfc_flow_mode_rc_min 0 vfc_flow_mode_rc_max 0 vfc_hybrid_flow_mode_rc_min 0 vfc_hybrid_flow_mode_rc_max 0 vfc_position_mode_rc_min 0 vfc_position_mode_rc_max 2100 vfc_traj_mode_rc_min 0 vfc_traj_mode_rc_max 0 vfc_yaw_deadband 30 vfc_vxy_deadband 50 vfc_vz_deadband 150 vfc_min_thrust 0.000000 vfc_max_thrust 0.800000 vfc_tilt_max 0.436000 vfc_yaw_rate_max 3.000000 vfc_thrust_hover 0.500000 vfc_vz_max 1.000000 vfc_kp_z 5.290000 vfc_kd_z 5.980000 vfc_vxy_max 3.000000 vfc_kp_xy 0.640000 vfc_kd_xy 2.560000 vfc_kp_z_vio 5.290000 vfc_kd_z_vio 5.980000 vfc_kp_xy_vio 3.240000 vfc_kd_xy_vio 3.960000 vfc_w_filt_xy_vio 10.000000 vfc_w_filt_xy_flow 3.000000 vfc_vel_ff_factor_vio 0.900000 vfc_xy_acc_limit_vio 2.500000 vfc_max_z_delta 3.000000 vfc_att_transition_time 0.500000 vfc_stick_move_threshold 30.000000 vfc_flow_transition_time 1.000000 vfc_q_min 10 vfc_points_min 7 vfc_en_submode_announcement 1 vfc_disable_fallback 0 COLLISION PREVENTION (VOA) en_voa: 1 voa_upper_bound_m: -0.150000 voa_lower_bound_m: 0.150000 voa_memory_s: 1.000000 voa_max_pc_per_fusion: 100 voa_pie_min_dist_m: 0.250000 voa_pie_max_dist_m: 20.000000 voa_pie_under_trim_m: 1.000000 voa_pie_threshold: 3 voa_pie_slices: 36 voa_pie_bin_depth_m: 0.150000 voa_send_rate_hz: 20.000000 voa_input #0 enabled: 1 type: point_cloud input_pipe: dfs_point_cloud frame: stereo_l max_depth: 8.000000 min_depth: 0.300000 cell_size: 0.080000 threshold: 4 x_fov_deg: 68.000000 y_fov_deg: 56.000000 conf_cutoff: 0 voa_input #1 enabled: 1 type: point_cloud input_pipe: stereo_front_pc frame: stereo_front_l max_depth: 8.000000 min_depth: 0.300000 cell_size: 0.080000 threshold: 4 x_fov_deg: 68.000000 y_fov_deg: 56.000000 conf_cutoff: 0 voa_input #2 enabled: 1 type: point_cloud input_pipe: stereo_rear_pc frame: stereo_rear_l max_depth: 8.000000 min_depth: 0.300000 cell_size: 0.080000 threshold: 4 x_fov_deg: 68.000000 y_fov_deg: 56.000000 conf_cutoff: 0 voa_input #3 enabled: 1 type: tof input_pipe: tof frame: tof max_depth: 6.000000 min_depth: 0.150000 cell_size: 0.080000 threshold: 3 x_fov_deg: 106.500000 y_fov_deg: 85.099998 conf_cutoff: 125 voa_input #4 enabled: 1 type: rangefinder input_pipe: rangefinders frame: body max_depth: 8.000000 min_depth: 0.300000 cell_size: 0.080000 threshold: 4 x_fov_deg: 68.000000 y_fov_deg: 56.000000 conf_cutoff: 0 ================================================================= loading extrinsics config file loading horizon cal file starting geometry module starting autopilot monitor starting mavlink IO Waiting to connect to voxl-mavlink-server Connected to voxl-mavlink-server starting fixed pose input starting vio manager Connected to VIO pipe: qvio Connected to VIO pipe: ov starting tag manager starting voa manager Connected to VOA input pipe: tof starting horizon cal module Connected to VOA input pipe: rangefinders starting imu manager starting state manager starting offboard figure eight Detected Autopilot Mavlink SYSID 1 requesting autopilot_version Init complete Detected autopilot version: 1.14.0 WARNING, _stop_helper_and_remove_pipe timed out joining read thread WARNING, _stop_helper_and_remove_pipe timed out joining read thread ERROR in pipe_client_get_info_json, channel 0 not initialized yet WARNING: failed to get info json from qvio server ERROR in pipe_client_get_info_json, channel 1 not initialized yet WARNING: failed to get info json from qvio server ^C -
You might have both qvio and openvins running? That could lead to issues. Only one should be running at a time
have you looked through the troubleshooting guide? https://docs.modalai.com/flying-with-vio/#troubleshooting-vio
Usually looking at the ovins-overlay in voxl-portal offers good insight
The common issues are vibration is too high, the extrinsics are incorrect or there are not enough features to track in the environment
