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    Starling 2 not following navigation path

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    • G
      greg_s
      last edited by

      Hello ModalAI Team,

      Please let me know if there is any further information needed. So far, I haven't had the drone successfully navigate in trajectory in any version of the VOXL SDK I've tried (1.4/1.5/1.6).

      A 1 Reply Last reply Reply Quote 0
      • A
        ApoorvThapliyal @greg_s
        last edited by

        Hey @greg_s,
        Can you post your voxl-logs and flight logs?

        Thanks

        G 1 Reply Last reply Reply Quote 0
        • G
          greg_s @ApoorvThapliyal
          last edited by greg_s

          Hello @ApoorvThapliyal,

          I put the log file here: log100.ulg on Filebin.net
          I also put the the output from voxl-vision-hub --debug_offboard suggested by @Cliff-Wong in another post in another upload here voxl-vision-hub-log.txt on Filebin.net.

          When I attempted the flight, the drone appeared to fly to the correct X and Z coordinates, but it was close to the floor and well below the correct Y coordinate.

          Here are a couple of picture of the map and projected route:
          plan1.jpg
          plan2.jpg

          And a couple of the map after the drone tried to navigate and ended up below the point:
          after_nav1.jpg
          after_nav2.jpg

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          • G
            greg_s
            last edited by

            For convenience I took out the section that has the trajectory from the voxl-vision-hub logs:

            commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
            commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
            commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
            commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
            commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
            commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
            commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
            commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
            commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
            commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
            commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
            commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
            commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
            commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
            commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
            commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
            commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
            commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
            commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
            commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
            commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
            commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
            commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
            commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
            commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
            commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
            commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
            commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
            commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
            commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
            commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
            commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
            commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
            commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
            commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
            commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
            commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
            commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
            commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
            commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
            commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
            commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
            commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
            commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
            commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
            commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
            commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
            commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
            commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
            commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
            commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
            commanding: XYZ -0.4 -0.2 -1.7 yaw: 0.3
            commanding: XYZ -0.4 -0.2 -1.7 yaw: 0.3
            commanding: XYZ -0.4 -0.2 -1.7 yaw: 0.3
            commanding: XYZ -0.4 -0.2 -1.7 yaw: 0.3
            commanding: XYZ -0.4 -0.2 -1.7 yaw: 0.3
            Received trajectory has duration 1.953539 seconds
            Received load and start command.
            commanding: XYZ -0.4 -0.2 -1.0 yaw: 0.7 V: 0.0 0.0 -0.0 A: 0.1 0.0 -0.0
            commanding: XYZ -0.4 -0.2 -1.0 yaw: 0.7 V: 0.0 0.0 -0.0 A: 0.2 0.2 -0.0
            commanding: XYZ -0.4 -0.2 -1.0 yaw: 0.7 V: 0.0 0.0 -0.0 A: 0.3 0.3 -0.0
            commanding: XYZ -0.4 -0.2 -1.0 yaw: 0.7 V: 0.0 0.0 -0.0 A: 0.5 0.5 -0.0
            commanding: XYZ -0.4 -0.2 -1.0 yaw: 0.7 V: 0.0 0.0 -0.0 A: 0.7 0.6 0.0
            commanding: XYZ -0.4 -0.2 -1.0 yaw: 0.7 V: 0.1 0.1 -0.0 A: 0.9 0.7 0.0
            commanding: XYZ -0.3 -0.2 -1.0 yaw: 0.7 V: 0.1 0.1 0.0 A: 1.0 0.9 0.0
            commanding: XYZ -0.3 -0.2 -1.0 yaw: 0.7 V: 0.1 0.1 0.0 A: 1.1 0.9 0.0
            commanding: XYZ -0.3 -0.2 -1.0 yaw: 0.7 V: 0.2 0.2 0.0 A: 1.1 1.0 0.0
            commanding: XYZ -0.3 -0.2 -1.0 yaw: 0.7 V: 0.2 0.2 0.0 A: 1.2 1.0 0.0
            commanding: XYZ -0.3 -0.2 -1.0 yaw: 0.7 V: 0.3 0.2 0.0 A: 1.2 1.0 0.0
            commanding: XYZ -0.3 -0.2 -1.0 yaw: 0.7 V: 0.3 0.3 0.0 A: 1.2 1.0 0.0
            commanding: XYZ -0.3 -0.1 -1.0 yaw: 0.7 V: 0.3 0.3 0.0 A: 1.2 1.0 0.0
            commanding: XYZ -0.3 -0.1 -1.0 yaw: 0.7 V: 0.4 0.3 0.0 A: 1.1 1.0 0.0
            commanding: XYZ -0.3 -0.1 -1.0 yaw: 0.7 V: 0.4 0.4 0.0 A: 1.1 1.0 0.0
            commanding: XYZ -0.3 -0.1 -1.0 yaw: 0.7 V: 0.4 0.4 0.0 A: 1.1 1.0 0.0
            Received trajectory has duration 1.452853 seconds
            Received insert command.
            commanding: XYZ -0.3 -0.1 -1.0 yaw: 0.7 V: 0.5 0.4 0.0 A: 1.1 0.9 0.0
            commanding: XYZ -0.2 -0.1 -1.0 yaw: 0.7 V: 0.5 0.4 0.0 A: 1.0 0.9 0.0
            commanding: XYZ -0.2 -0.1 -1.0 yaw: 0.7 V: 0.5 0.5 0.0 A: 1.0 0.9 0.0
            commanding: XYZ -0.2 -0.1 -1.0 yaw: 0.7 V: 0.6 0.5 0.0 A: 0.9 0.8 0.0
            commanding: XYZ -0.2 -0.0 -1.0 yaw: 0.7 V: 0.6 0.5 0.0 A: 0.8 0.7 0.1
            commanding: XYZ -0.2 -0.0 -1.0 yaw: 0.7 V: 0.6 0.6 0.0 A: 0.8 0.6 0.1
            commanding: XYZ -0.1 0.0 -1.0 yaw: 0.7 V: 0.7 0.6 0.0 A: 0.7 0.5 0.1
            commanding: XYZ -0.1 0.0 -1.0 yaw: 0.7 V: 0.7 0.6 0.0 A: 0.6 0.5 0.1
            commanding: XYZ -0.1 0.0 -1.0 yaw: 0.7 V: 0.7 0.6 0.0 A: 0.5 0.4 0.1
            commanding: XYZ -0.1 0.1 -1.0 yaw: 0.7 V: 0.7 0.6 0.0 A: 0.4 0.3 0.0
            commanding: XYZ -0.0 0.1 -1.0 yaw: 0.7 V: 0.7 0.6 0.0 A: 0.3 0.2 0.0
            commanding: XYZ -0.0 0.1 -1.0 yaw: 0.7 V: 0.7 0.6 0.0 A: 0.2 0.1 0.0
            commanding: XYZ 0.0 0.1 -1.0 yaw: 0.7 V: 0.7 0.6 0.0 A: 0.0 0.0 0.0
            Received trajectory has duration 0.510237 seconds
            Received insert command.
            commanding: XYZ 0.0 0.1 -1.0 yaw: 0.7 V: 0.7 0.6 0.0 A: -0.1 -0.1 0.0
            commanding: XYZ 0.1 0.2 -1.0 yaw: 0.7 V: 0.7 0.6 0.0 A: -0.2 -0.2 0.0
            commanding: XYZ 0.1 0.2 -1.0 yaw: 0.7 V: 0.6 0.5 0.0 A: -0.2 -0.2 0.0
            commanding: XYZ 0.1 0.2 -1.0 yaw: 0.7 V: 0.6 0.5 0.0 A: -0.3 -0.2 0.0
            commanding: XYZ 0.1 0.2 -1.0 yaw: 0.7 V: 0.6 0.5 0.0 A: -0.4 -0.3 -0.0
            commanding: XYZ 0.1 0.2 -1.0 yaw: 0.7 V: 0.6 0.5 0.0 A: -0.5 -0.4 -0.0
            commanding: XYZ 0.2 0.3 -1.0 yaw: 0.7 V: 0.6 0.5 0.0 A: -0.6 -0.5 -0.0
            commanding: XYZ 0.2 0.3 -1.0 yaw: 0.7 V: 0.6 0.5 0.0 A: -0.7 -0.6 -0.0
            commanding: XYZ 0.2 0.3 -1.0 yaw: 0.7 V: 0.5 0.5 0.0 A: -0.7 -0.6 -0.0
            commanding: XYZ 0.2 0.3 -1.0 yaw: 0.7 V: 0.5 0.4 0.0 A: -0.7 -0.6 -0.0
            commanding: XYZ 0.2 0.3 -1.0 yaw: 0.7 V: 0.5 0.4 0.0 A: -0.8 -0.7 -0.0
            commanding: XYZ 0.2 0.3 -1.0 yaw: 0.7 V: 0.5 0.4 0.0 A: -0.8 -0.7 -0.0
            commanding: XYZ 0.3 0.3 -1.0 yaw: 0.7 V: 0.4 0.4 0.0 A: -0.8 -0.7 -0.0
            commanding: XYZ 0.3 0.4 -1.0 yaw: 0.7 V: 0.4 0.3 0.0 A: -0.8 -0.7 -0.0
            commanding: XYZ 0.3 0.4 -1.0 yaw: 0.7 V: 0.4 0.3 0.0 A: -0.8 -0.7 -0.0
            commanding: XYZ 0.3 0.4 -1.0 yaw: 0.7 V: 0.4 0.3 0.0 A: -0.7 -0.6 -0.0
            commanding: XYZ 0.3 0.4 -1.0 yaw: 0.7 V: 0.3 0.3 0.0 A: -0.5 -0.5 -0.0
            commanding: XYZ 0.3 0.4 -1.0 yaw: 0.7 V: 0.3 0.3 0.0 A: -0.4 -0.3 0.0
            commanding: XYZ 0.3 0.4 -1.0 yaw: 0.7 V: 0.3 0.3 0.0 A: -0.3 -0.3 0.0
            commanding: XYZ 0.3 0.4 -1.0 yaw: 0.7 V: 0.3 0.2 0.0 A: -0.4 -0.4 0.0
            commanding: XYZ 0.3 0.4 -1.0 yaw: 0.7 V: 0.3 0.2 0.0 A: -0.6 -0.5 -0.0
            commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 V: 0.2 0.2 0.0 A: -0.8 -0.7 -0.0
            commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 V: 0.2 0.2 0.0 A: -1.1 -0.9 -0.1
            commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 V: 0.2 0.1 0.0 A: -1.3 -1.1 -0.1
            commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 V: 0.1 0.1 0.0 A: -1.4 -1.1 -0.1
            commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 V: 0.1 0.1 0.0 A: -1.3 -1.1 -0.1
            commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 V: 0.0 0.0 0.0 A: -1.0 -0.9 -0.1
            commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 V: 0.0 0.0 0.0 A: -0.7 -0.6 -0.1
            commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 V: 0.0 0.0 0.0 A: -0.3 -0.2 -0.0
            commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 V: 0.0 0.0 0.0 A: -0.0 -0.0 -0.0
            commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 V: -0.0 -0.0 0.0 A: -0.0 -0.0 0.0
            FINISHED TRAJECTORY
            commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
            commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
            commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
            commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
            commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
            commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
            commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
            commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
            commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
            commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
            commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
            commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
            commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
            commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
            commanding: XYZ 0.4 0.5 -1.0 yaw: 0.7
            commanding: XYZ 0.4 0.5 -1.0 yaw: 0.7
            commanding: XYZ 0.4 0.5 -1.0 yaw: 0.7
            commanding: XYZ 0.4 0.5 -1.0 yaw: 0.7
            commanding: XYZ 0.4 0.5 -1.0 yaw: 0.7

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            • G
              greg_s
              last edited by

              @ApoorvThapliyal, if you/your team needs anymore information or data, do let me know. Thank you.

              A 1 Reply Last reply Reply Quote 0
              • A
                ApoorvThapliyal @greg_s
                last edited by

                Hey @greg_s
                I just wanted to confirm, are you dragging the planned point to the height desired? By default, simply clicking on the map will generate a point at height 0.
                Let me know, thanks

                G 2 Replies Last reply Reply Quote 0
                • G
                  greg_s @ApoorvThapliyal
                  last edited by

                  Hello @ApoorvThapliyal,

                  Yes, I am dragging the point up and panning the camera around to ensure it is roughly the same height as the drone. The line drawn for the path is pretty straight and at the correctly level. The drone just ends up flying down below the point after I have move it.

                  1 Reply Last reply Reply Quote 0
                  • G
                    greg_s @ApoorvThapliyal
                    last edited by

                    Hello @ApoorvThapliyal,

                    Is there anything more your teams need to investigate/troubleshoot the issue? Thanks.

                    A 1 Reply Last reply Reply Quote 0
                    • A
                      ApoorvThapliyal @greg_s
                      last edited by

                      Hey @greg_s
                      I was able to reproduce the issue where the drone does not fly correctly toward the setpoint. I think reviewing the extrinsics.conf file is a good next step, as there may be an incorrect transform defined there.

                      G 1 Reply Last reply Reply Quote 0
                      • G
                        greg_s @ApoorvThapliyal
                        last edited by greg_s

                        Hey @ApoorvThapliyal,

                        Here is the output of the extrinsics:

                        voxl2:~$ voxl-inspect-extrinsics --all
                        name: D0014_Starling_2
                        #0:
                        parent: imu_apps
                        child: tracking_front
                        T_child_wrt_parent: 0.037 0.000 0.001
                        RPY_parent_to_child: 0.0 90.0 90.0
                        R_child_to_parent: 0.000 -0.000 1.000
                        1.000 0.000 -0.000
                        -0.000 1.000 0.000

                        #1:
                        parent: imu_apps
                        child: tracking_down
                        T_child_wrt_parent: -0.088 -0.004 0.027
                        RPY_parent_to_child: 0.0 0.0 180.0
                        R_child_to_parent: -1.000 -0.000 0.000
                        0.000 -1.000 -0.000
                        0.000 0.000 1.000

                        #2:
                        parent: imu_apps
                        child: tracking_rear
                        T_child_wrt_parent: -0.092 0.016 0.004
                        RPY_parent_to_child: 0.0 -90.0 -90.0
                        R_child_to_parent: 0.000 0.000 -1.000
                        -1.000 0.000 -0.000
                        0.000 1.000 0.000

                        #3:
                        parent: imu_apps
                        child: hires
                        T_child_wrt_parent: 0.039 0.000 0.019
                        RPY_parent_to_child: 0.0 90.0 90.0
                        R_child_to_parent: 0.000 -0.000 1.000
                        1.000 0.000 -0.000
                        -0.000 1.000 0.000

                        #4:
                        parent: body
                        child: imu_apps
                        T_child_wrt_parent: 0.029 -0.006 -0.016
                        RPY_parent_to_child: 0.0 0.0 0.0
                        R_child_to_parent: 1.000 -0.000 0.000
                        0.000 1.000 -0.000
                        0.000 0.000 1.000

                        #5:
                        parent: body
                        child: imu_px4
                        T_child_wrt_parent: 0.004 0.007 -0.016
                        RPY_parent_to_child: 0.0 0.0 0.0
                        R_child_to_parent: 1.000 -0.000 0.000
                        0.000 1.000 -0.000
                        0.000 0.000 1.000

                        #6:
                        parent: imu_apps
                        child: lepton0_raw
                        T_child_wrt_parent: -0.085 0.013 0.024
                        RPY_parent_to_child: 0.0 0.0 90.0
                        R_child_to_parent: 0.000 -1.000 0.000
                        1.000 0.000 -0.000
                        0.000 0.000 1.000

                        #7:
                        parent: body
                        child: tof
                        T_child_wrt_parent: 0.066 0.009 -0.012
                        RPY_parent_to_child: 0.0 90.0 180.0
                        R_child_to_parent: -0.000 -0.000 1.000
                        0.000 -1.000 -0.000
                        1.000 0.000 0.000

                        #8:
                        parent: body
                        child: ground
                        T_child_wrt_parent: 0.000 0.000 0.033
                        RPY_parent_to_child: 0.0 0.0 0.0
                        R_child_to_parent: 1.000 -0.000 0.000
                        0.000 1.000 -0.000
                        0.000 0.000 1.000

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