VIO drifting when using TFlite Server
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Hi ModalAI team
I’m working with a Starling 2 drone running SDK 1.4.0. In a recent project, I integrated a TFLite server to command the drone in certain directions using VIO (qvio).
Here’s the situation:
In Position mode, VIO works fine. It can handle mild to moderately agile maneuvers with good stability. However, once I start using the TFLite server to command the drone (via MAVSDK Python Docker, listening to TFLite outputs from a mounted pipe), VIO becomes unstable. The issues I observe: During slightly rapid motions, I get errors like “accelerometer fail” or “height estimate error”. Over time, VIO itself fails completely and I have to restart.
I am presuming this can happen because of overheating. When the neural network runs, the VOXL2 temperature often reaches 80–85°C, sometimes even above 90°C when I dont start the propellers quickly. This could:
-Directly harm the VOXL2 hardware.
-Disrupt IMU calibration at high temperatures.
I’m thinking about adding a cooling fan or redoing the IMU calibration (hot calibration in particular).
What would be your suggestions or other potential reasons for this case?
Thanks!
-
Hi ModalAI team
I’m working with a Starling 2 drone running SDK 1.4.0. In a recent project, I integrated a TFLite server to command the drone in certain directions using VIO (qvio).
Here’s the situation:
In Position mode, VIO works fine. It can handle mild to moderately agile maneuvers with good stability. However, once I start using the TFLite server to command the drone (via MAVSDK Python Docker, listening to TFLite outputs from a mounted pipe), VIO becomes unstable. The issues I observe: During slightly rapid motions, I get errors like “accelerometer fail” or “height estimate error”. Over time, VIO itself fails completely and I have to restart.
I am presuming this can happen because of overheating. When the neural network runs, the VOXL2 temperature often reaches 80–85°C, sometimes even above 90°C when I dont start the propellers quickly. This could:
-Directly harm the VOXL2 hardware.
-Disrupt IMU calibration at high temperatures.
I’m thinking about adding a cooling fan or redoing the IMU calibration (hot calibration in particular).
What would be your suggestions or other potential reasons for this case?
Thanks!
@Ege-Yüceel Hi Ege, the most likely scenario is that the tflite-server is starving the open-vins process causing backups and missed data. Can you increase the "skip frames" parameter in tflite-server or reduce the number of cores it is using?
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@Ege-Yüceel Hi Ege, the most likely scenario is that the tflite-server is starving the open-vins process causing backups and missed data. Can you increase the "skip frames" parameter in tflite-server or reduce the number of cores it is using?
@Moderator thank you for the recommendation. I will try out this.
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