voxl-vision-hub sending unsolicited set_attitude messages

[bendraper]

I have an external ArduPilot flight controller and when I enter Guided mode, my drone starts to descend and move as if it were given a target even though intended behavior is that it should just hold its position until given a target. Upon some digging, I think I've determined that somewhere in vision hub (version 1.8.17), the moment I enter guided mode I get a burst of SET_ATTITUDE_TARGET messages. I have open vins server turned off as well as voxl-px4 for what its worth. Any idea where and why this message may be getting sent?

[bendraper]

@bendraper Actually I think the message is SET_POSITION_TARGET_LOCAL_NED not SET_ATTITUDE

[Eric Katzfey]

@bendraper Edit /etc/modalai/voxl-vision-hub.conf and set "offboard_mode": "off"

[bendraper]

@Eric-Katzfey So I have a niche issue with that. I'm running a process on the Voxl that is utilizing the local port within vision hub because it is said in the voxl-mavlink-server conf file that you should expose a local port there as opposed to voxl-mavlink server. But now when i set offboard mode to off, my process is blocked off from that local port that is enabled within vision hub... any way you can see to resolve this?

[bendraper]

@Eric-Katzfey This process is trying to send SET_POSITION_TARGET_LOCAL_NED by the way. Not sure if the act of setting offboard mode to OFF just blocks that message or something

[Eric Katzfey]

@bendraper The code is open source. It is located here: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-vision-hub/-/tree/dev?ref_type=heads. We encourage users to clone the repo and familiarize themselves with the code base. Did you try setting offboard_mode to off? Did it stop the SET_POSITION_TARGET_LOCAL_NED messages from being sent out?