VIO FLİGHT
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There are pauses in the VIO system.When the VIO system is activated, it stops after a certain distance.When I look at the local_position messages the data is not visible.
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Can you please share details about your setup? Which hardware and software are you using for instance? Do you have a screen capture from voxl-portal or QGC?
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Can you please share details about your system? Which products you are using and how they are configured? The link you sent is blocked.
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Maybe some others on the team might want to chime in, but some thoughts based on the video:
- voxl-portal with VIO overlay is a great debugging tool for this
- A field of waving grass is very challenging for a visual tracker
- there is a writeup on troubleshooting VIO here that might be helpful
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@Chad-Sweet This is the first time I have encountered this problem, I have not encountered it before, I tested it 1-2 times in this way and there was no problem. It is a sudden situation. While passing over GPS, the camera gives correct data, but when we write over GPS stop mavlink, it gives failsafe.
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Jonathan, if you have a log(ulog) that exhibits the pause would be great, as it'll show which module is causing the issue. Since you mention local_position, there could be multiple possibilities, especially if you're fusioning GPS and vio data. Based on one's setup, the local position NED calculation may use other sensors and not just vio.
To briefly check if vio is the source of the problem, you can look at Odometry topic (directly coupled to voxl vio). If vio has an issue, you'll see the pause, it goto zero or freeze. If not, it's likely a PX4 tuning issue. Nonetheless the ulog will explain what is happening.