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    Starling 2 not following navigation path

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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

      1 Reply Last reply Reply Quote 0
      • 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 2 Replies 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

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

                    Hello @ApoorvThapliyal,

                    Is there anything that looks wrong or off about the configuration? Should I look at any other file in particular?

                    Cliff WongC 1 Reply Last reply Reply Quote 0
                    • Cliff WongC
                      Cliff Wong ModalAI Team @greg_s
                      last edited by Cliff Wong

                      @greg_s
                      Hi there, your extrinsics are good: same as a factory Starling. Now, if you altered the voxl-camera-server.conf (e.g. enabled a flip of a camera stream when it wasn't) or physically changed a camera mount point then the extrinsics would need to be adjusted. Let assume that's not the case.

                      From your vvhub trajectory output, it appears your setpoints command the vehicle to move forward (X) and to the right (Y) > 1m while dropping altitude (Z) 0.8m --recall mapper runs in FRD (aka body) space where Z up is negative. Also you do pass through the take off origin (0,0,0). If that's not what you wanted, then we have a "requested trajectory" drawing problem in the portal tool or mapper's found invalid regions/obstacle and could not draw the "requested trajectory".

                      In the former case @ApoorvThapliyal mentions the un-intuitiveness of the portal tool that you already understand.

                      In the latter case, upon "request trajectory" submission, voxl-mapper will analyze the map to see if there are obstacles and alter the trajectory to fly around potential obstacles. You can alter in voxl-mapper.conf:

                      • rrt_min_distance (try 0.125)
                      • esdf_inner_sphere_radius (try 0.15)
                        if you seeing mapper create trajectories going around 'ghost' objects. This should allow RRT generated trajectories to get closer to objects.

                      In checking precision, you'll need to take the trajectory output (e.g. the setpoints in the *commanding: XYZ* messages) and compared it against VIO position to determine tracking error. You have 2 ways to get that data:

                      • option 1 is record you vvhub traj output as above and record the output of voxl-inspect-vins -n then plot compare the tracking error.

                      • option 2 is running voxl-vision-hub --debug_offboard --debug_odometry which you'll need to seperate the traj messages from the vio (T_body_wrt_local) messages, then you ca plot the tracking error.

                      The goal is we want the vio position to follow the commanded trajectory: (it's doing what is told to do). That will narrow down where your concerns are w.r.t what module has a problem.

                      Hopefully that gets you on the right track, just post any outputs you gather that continue to show tracking error.

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

                        Hello @Cliff-Wong,

                        I collected the output from voxl-vision-hub --debug_offboard and voxl-inspect-vins -n. I place a plan_to point that was about half a meter from the drone and slightly higher in altitude from the drone. I used the arrows to position the plan_to point and rotated camera to ensure the plan_to point it was placed correctly. I reduced the rrt_min_distance and esdf_inner_sphere_radius as suggested. The drone had more than a meter clearance on all sides. The room is empty with no obstacles.

                        The output from voxl-vision-hub --debug_offboard:
                        commanding: XYZ -1.0 -0.1 -2.4 yaw: 2.6
                        commanding: XYZ -1.0 -0.1 -2.4 yaw: 2.6
                        commanding: XYZ -1.0 -0.1 -2.4 yaw: 2.6
                        commanding: XYZ -1.0 -0.1 -2.4 yaw: 2.6
                        commanding: XYZ -1.0 -0.1 -2.4 yaw: 2.6
                        commanding: XYZ -1.0 -0.1 -2.4 yaw: 2.6
                        commanding: XYZ -1.0 -0.1 -2.4 yaw: 2.6
                        commanding: XYZ -1.0 -0.1 -2.4 yaw: 2.6
                        commanding: XYZ -1.0 -0.1 -2.4 yaw: 2.6
                        commanding: XYZ -1.0 -0.1 -2.4 yaw: 2.6
                        commanding: XYZ -1.0 -0.1 -2.4 yaw: 2.6
                        commanding: XYZ -1.0 -0.1 -2.4 yaw: 2.6
                        commanding: XYZ -1.0 -0.1 -2.4 yaw: 2.6
                        commanding: XYZ -1.0 -0.1 -2.4 yaw: 2.6
                        Setpoint position: XYZ -1.0 -0.1 -0.8 yaw: 0.4
                        Received trajectory has duration 3.309723 seconds
                        Received load and start command.
                        commanding: XYZ -1.0 -0.1 0.1 yaw: 0.4 V: 0.0 0.0 -0.0 A: 0.0 0.0 -0.0
                        commanding: XYZ -1.0 -0.1 0.1 yaw: 0.5 V: 0.0 0.0 -0.0 A: 0.0 0.0 -0.0
                        commanding: XYZ -1.0 -0.1 0.1 yaw: 0.4 V: 0.0 0.0 -0.0 A: 0.0 0.0 -0.1
                        commanding: XYZ -1.0 -0.1 0.1 yaw: 0.4 V: 0.0 0.0 -0.0 A: 0.0 0.0 -0.1
                        commanding: XYZ -1.0 -0.1 0.1 yaw: 0.4 V: 0.0 0.0 -0.0 A: 0.1 0.0 -0.2
                        commanding: XYZ -1.0 -0.1 0.1 yaw: 0.4 V: 0.0 0.0 -0.0 A: 0.1 0.0 -0.3
                        commanding: XYZ -1.0 -0.1 0.1 yaw: 0.4 V: 0.0 0.0 -0.0 A: 0.1 0.1 -0.3
                        commanding: XYZ -1.0 -0.1 0.1 yaw: 0.4 V: 0.0 0.0 -0.0 A: 0.2 0.1 -0.4
                        commanding: XYZ -1.0 -0.1 0.1 yaw: 0.4 V: 0.0 0.0 -0.1 A: 0.2 0.1 -0.4
                        commanding: XYZ -1.0 -0.1 0.1 yaw: 0.4 V: 0.0 0.0 -0.1 A: 0.2 0.1 -0.5
                        commanding: XYZ -1.0 -0.1 0.1 yaw: 0.4 V: 0.0 0.0 -0.1 A: 0.3 0.1 -0.5
                        commanding: XYZ -1.0 -0.1 0.1 yaw: 0.4 V: 0.0 0.0 -0.1 A: 0.3 0.1 -0.6
                        commanding: XYZ -1.0 -0.1 0.1 yaw: 0.4 V: 0.1 0.0 -0.1 A: 0.4 0.1 -0.6
                        commanding: XYZ -1.0 -0.1 0.1 yaw: 0.4 V: 0.1 0.0 -0.1 A: 0.4 0.1 -0.6
                        commanding: XYZ -1.0 -0.1 0.1 yaw: 0.4 V: 0.1 0.0 -0.2 A: 0.4 0.2 -0.6
                        commanding: XYZ -1.0 -0.1 0.1 yaw: 0.4 V: 0.1 0.0 -0.2 A: 0.5 0.2 -0.6
                        commanding: XYZ -1.0 -0.1 0.1 yaw: 0.4 V: 0.1 0.0 -0.2 A: 0.5 0.2 -0.6
                        Received trajectory has duration 2.234033 seconds
                        Received insert command.
                        commanding: XYZ -1.0 -0.1 0.1 yaw: 0.4 V: 0.1 0.1 -0.2 A: 0.5 0.2 -0.6
                        commanding: XYZ -1.0 -0.1 0.0 yaw: 0.4 V: 0.2 0.1 -0.3 A: 0.5 0.2 -0.6
                        commanding: XYZ -1.0 -0.1 0.0 yaw: 0.4 V: 0.2 0.1 -0.3 A: 0.5 0.2 -0.6
                        commanding: XYZ -1.0 -0.1 0.0 yaw: 0.4 V: 0.2 0.1 -0.3 A: 0.6 0.2 -0.6
                        commanding: XYZ -1.0 -0.1 0.0 yaw: 0.4 V: 0.2 0.1 -0.3 A: 0.6 0.2 -0.5
                        commanding: XYZ -1.0 -0.1 0.0 yaw: 0.4 V: 0.2 0.1 -0.3 A: 0.6 0.2 -0.5
                        commanding: XYZ -0.9 -0.1 -0.0 yaw: 0.4 V: 0.2 0.1 -0.3 A: 0.6 0.2 -0.5
                        commanding: XYZ -0.9 -0.1 -0.0 yaw: 0.4 V: 0.3 0.1 -0.4 A: 0.6 0.2 -0.5
                        commanding: XYZ -0.9 -0.1 -0.0 yaw: 0.4 V: 0.3 0.1 -0.4 A: 0.6 0.2 -0.4
                        commanding: XYZ -0.9 -0.1 -0.0 yaw: 0.4 V: 0.3 0.1 -0.4 A: 0.6 0.2 -0.4
                        commanding: XYZ -0.9 -0.1 -0.1 yaw: 0.4 V: 0.3 0.1 -0.4 A: 0.6 0.2 -0.4
                        commanding: XYZ -0.9 -0.1 -0.1 yaw: 0.4 V: 0.3 0.1 -0.4 A: 0.6 0.3 -0.4
                        commanding: XYZ -0.9 -0.1 -0.1 yaw: 0.4 V: 0.4 0.1 -0.4 A: 0.6 0.3 -0.4
                        commanding: XYZ -0.9 -0.1 -0.1 yaw: 0.4 V: 0.4 0.2 -0.4 A: 0.6 0.3 -0.4
                        commanding: XYZ -0.9 -0.1 -0.1 yaw: 0.4 V: 0.4 0.2 -0.4 A: 0.6 0.2 -0.4
                        commanding: XYZ -0.8 -0.1 -0.1 yaw: 0.4 V: 0.4 0.2 -0.5 A: 0.6 0.2 -0.4
                        commanding: XYZ -0.8 -0.1 -0.1 yaw: 0.4 V: 0.4 0.2 -0.5 A: 0.6 0.3 -0.4
                        commanding: XYZ -0.8 -0.1 -0.2 yaw: 0.4 V: 0.4 0.2 -0.5 A: 0.6 0.3 -0.4
                        commanding: XYZ -0.8 -0.1 -0.2 yaw: 0.4 V: 0.5 0.2 -0.5 A: 0.6 0.3 -0.4
                        commanding: XYZ -0.8 -0.0 -0.2 yaw: 0.4 V: 0.5 0.2 -0.5 A: 0.6 0.3 -0.3
                        commanding: XYZ -0.8 -0.0 -0.2 yaw: 0.4 V: 0.5 0.2 -0.5 A: 0.6 0.3 -0.3
                        commanding: XYZ -0.8 -0.0 -0.2 yaw: 0.4 V: 0.5 0.2 -0.5 A: 0.6 0.2 -0.3
                        commanding: XYZ -0.7 -0.0 -0.2 yaw: 0.4 V: 0.6 0.2 -0.5 A: 0.6 0.2 -0.3
                        commanding: XYZ -0.7 -0.0 -0.3 yaw: 0.4 V: 0.6 0.2 -0.5 A: 0.6 0.2 -0.3
                        commanding: XYZ -0.7 -0.0 -0.3 yaw: 0.4 V: 0.6 0.2 -0.6 A: 0.6 0.2 -0.2
                        commanding: XYZ -0.7 -0.0 -0.3 yaw: 0.4 V: 0.6 0.2 -0.6 A: 0.6 0.2 -0.2
                        commanding: XYZ -0.7 0.0 -0.3 yaw: 0.4 V: 0.6 0.3 -0.6 A: 0.5 0.2 -0.2
                        Received trajectory has duration 1.689594 seconds
                        Received insert command.
                        commanding: XYZ -0.6 0.0 -0.3 yaw: 0.4 V: 0.7 0.3 -0.6 A: 0.5 0.2 -0.2
                        commanding: XYZ -0.6 0.0 -0.4 yaw: 0.4 V: 0.7 0.3 -0.6 A: 0.5 0.2 -0.1
                        commanding: XYZ -0.6 0.0 -0.4 yaw: 0.4 V: 0.7 0.3 -0.6 A: 0.4 0.2 -0.1
                        commanding: XYZ -0.6 0.0 -0.4 yaw: 0.4 V: 0.7 0.3 -0.6 A: 0.4 0.1 -0.1
                        commanding: XYZ -0.5 0.1 -0.4 yaw: 0.4 V: 0.7 0.3 -0.6 A: 0.4 0.1 -0.1
                        commanding: XYZ -0.5 0.1 -0.4 yaw: 0.4 V: 0.7 0.3 -0.6 A: 0.3 0.1 -0.0
                        commanding: XYZ -0.5 0.1 -0.5 yaw: 0.4 V: 0.7 0.3 -0.6 A: 0.3 0.1 -0.0
                        commanding: XYZ -0.5 0.1 -0.5 yaw: 0.4 V: 0.7 0.3 -0.6 A: 0.3 0.1 0.0
                        Received trajectory has duration 1.165000 seconds
                        Received insert command.
                        commanding: XYZ -0.4 0.1 -0.5 yaw: 0.4 V: 0.7 0.3 -0.6 A: 0.2 0.1 0.1
                        Received trajectory has duration 1.342931 seconds
                        Received insert command.
                        commanding: XYZ -0.4 0.1 -0.5 yaw: 0.4 V: 0.7 0.3 -0.6 A: 0.1 0.0 0.1
                        commanding: XYZ -0.4 0.1 -0.5 yaw: 0.4 V: 0.7 0.3 -0.6 A: 0.1 0.0 0.1
                        commanding: XYZ -0.4 0.1 -0.5 yaw: 0.4 V: 0.7 0.3 -0.6 A: 0.0 -0.0 0.2
                        commanding: XYZ -0.3 0.1 -0.6 yaw: 0.4 V: 0.7 0.3 -0.6 A: -0.0 -0.0 0.2
                        commanding: XYZ -0.3 0.1 -0.6 yaw: 0.4 V: 0.7 0.3 -0.6 A: -0.1 -0.0 0.2
                        commanding: XYZ -0.3 0.1 -0.6 yaw: 0.4 V: 0.7 0.3 -0.5 A: -0.1 -0.1 0.3
                        commanding: XYZ -0.3 0.2 -0.6 yaw: 0.4 V: 0.7 0.3 -0.5 A: -0.2 -0.1 0.3
                        commanding: XYZ -0.2 0.2 -0.6 yaw: 0.4 V: 0.7 0.3 -0.5 A: -0.2 -0.1 0.3
                        commanding: XYZ -0.2 0.2 -0.7 yaw: 0.4 V: 0.7 0.3 -0.5 A: -0.3 -0.1 0.3
                        commanding: XYZ -0.2 0.2 -0.7 yaw: 0.4 V: 0.7 0.3 -0.5 A: -0.3 -0.1 0.4
                        commanding: XYZ -0.2 0.2 -0.7 yaw: 0.4 V: 0.7 0.3 -0.5 A: -0.4 -0.2 0.4
                        Received trajectory has duration 1.508897 seconds
                        Received insert command.
                        commanding: XYZ -0.2 0.2 -0.7 yaw: 0.4 V: 0.7 0.3 -0.5 A: -0.4 -0.2 0.4
                        commanding: XYZ -0.1 0.2 -0.7 yaw: 0.4 V: 0.7 0.3 -0.5 A: -0.5 -0.2 0.4
                        commanding: XYZ -0.1 0.2 -0.7 yaw: 0.4 V: 0.7 0.3 -0.5 A: -0.5 -0.2 0.4
                        commanding: XYZ -0.1 0.2 -0.8 yaw: 0.4 V: 0.6 0.2 -0.4 A: -0.5 -0.2 0.4
                        commanding: XYZ -0.1 0.2 -0.8 yaw: 0.4 V: 0.6 0.2 -0.4 A: -0.5 -0.2 0.4
                        commanding: XYZ -0.0 0.2 -0.8 yaw: 0.4 V: 0.6 0.2 -0.4 A: -0.5 -0.2 0.4
                        commanding: XYZ -0.0 0.3 -0.8 yaw: 0.4 V: 0.5 0.2 -0.4 A: -0.6 -0.2 0.4
                        commanding: XYZ -0.0 0.3 -0.8 yaw: 0.4 V: 0.5 0.2 -0.3 A: -0.6 -0.2 0.5
                        commanding: XYZ 0.0 0.3 -0.8 yaw: 0.4 V: 0.5 0.2 -0.3 A: -0.6 -0.2 0.5
                        commanding: XYZ 0.0 0.3 -0.8 yaw: 0.4 V: 0.5 0.2 -0.3 A: -0.7 -0.3 0.5
                        commanding: XYZ 0.0 0.3 -0.8 yaw: 0.4 V: 0.5 0.2 -0.3 A: -0.7 -0.3 0.5
                        commanding: XYZ 0.1 0.3 -0.8 yaw: 0.4 V: 0.4 0.2 -0.3 A: -0.7 -0.3 0.5
                        commanding: XYZ 0.1 0.3 -0.9 yaw: 0.4 V: 0.4 0.2 -0.3 A: -0.7 -0.3 0.5
                        commanding: XYZ 0.1 0.3 -0.9 yaw: 0.4 V: 0.4 0.1 -0.2 A: -0.7 -0.3 0.5
                        commanding: XYZ 0.1 0.3 -0.9 yaw: 0.4 V: 0.3 0.1 -0.2 A: -0.5 -0.2 0.4
                        commanding: XYZ 0.1 0.3 -0.9 yaw: 0.4 V: 0.3 0.1 -0.2 A: -0.5 -0.2 0.4
                        commanding: XYZ 0.1 0.3 -0.9 yaw: 0.4 V: 0.3 0.1 -0.2 A: -0.5 -0.2 0.4
                        commanding: XYZ 0.1 0.3 -0.9 yaw: 0.4 V: 0.3 0.1 -0.2 A: -0.5 -0.2 0.4
                        commanding: XYZ 0.1 0.3 -0.9 yaw: 0.4 V: 0.2 0.1 -0.2 A: -0.5 -0.2 0.3
                        commanding: XYZ 0.1 0.3 -0.9 yaw: 0.4 V: 0.2 0.1 -0.1 A: -0.5 -0.2 0.3
                        commanding: XYZ 0.1 0.3 -0.9 yaw: 0.4 V: 0.2 0.1 -0.1 A: -0.5 -0.2 0.3
                        commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.2 0.1 -0.1 A: -0.5 -0.2 0.3
                        commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.2 0.1 -0.1 A: -0.5 -0.2 0.3
                        commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.2 0.1 -0.1 A: -0.5 -0.2 0.3
                        commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.2 0.1 -0.1 A: -0.4 -0.2 0.3
                        commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.1 0.1 -0.1 A: -0.4 -0.2 0.3
                        commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.1 0.0 -0.1 A: -0.4 -0.1 0.3
                        commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.1 0.0 -0.1 A: -0.4 -0.1 0.2
                        commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.1 0.0 -0.1 A: -0.4 -0.1 0.2
                        commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.1 0.0 -0.1 A: -0.3 -0.1 0.2
                        commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.1 0.0 -0.0 A: -0.3 -0.1 0.2
                        commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.1 0.0 -0.0 A: -0.3 -0.1 0.2
                        commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.1 0.0 -0.0 A: -0.3 -0.1 0.2
                        commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.0 0.0 -0.0 A: -0.2 -0.1 0.1
                        commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.0 0.0 -0.0 A: -0.2 -0.1 0.1
                        commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.0 0.0 -0.0 A: -0.2 -0.1 0.1
                        commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.0 0.0 -0.0 A: -0.2 -0.1 0.1
                        commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.0 0.0 -0.0 A: -0.2 -0.1 0.1
                        commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.0 0.0 -0.0 A: -0.1 -0.1 0.1
                        commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.0 0.0 -0.0 A: -0.1 -0.0 0.1
                        commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.0 0.0 -0.0 A: -0.1 -0.0 0.1
                        commanding: XYZ 0.2 0.3 -0.9 yaw: 0.3 V: 0.0 0.0 -0.0 A: -0.1 -0.0 0.1
                        commanding: XYZ 0.2 0.3 -0.9 yaw: 0.3 V: 0.0 0.0 -0.0 A: -0.1 -0.0 0.0
                        commanding: XYZ 0.2 0.3 -0.9 yaw: 0.2 V: 0.0 0.0 -0.0 A: -0.1 -0.0 0.0
                        commanding: XYZ 0.2 0.3 -0.9 yaw: -2.8 V: -0.0 -0.0 0.0 A: -0.0 -0.0 0.0
                        commanding: XYZ 0.2 0.3 -0.9 yaw: -2.8 V: -0.0 -0.0 0.0 A: -0.0 -0.0 0.0
                        commanding: XYZ 0.2 0.3 -0.9 yaw: -2.8 V: -0.0 -0.0 0.0 A: -0.0 -0.0 0.0
                        Received stop command.
                        Stopped following trajectory.
                        commanding: XYZ -1.0 -0.1 -1.5 yaw: 0.5
                        commanding: XYZ -1.0 -0.1 -1.5 yaw: 0.5
                        commanding: XYZ -1.0 -0.1 -1.5 yaw: 0.5
                        commanding: XYZ -1.0 -0.1 -1.5 yaw: 0.5
                        commanding: XYZ -1.0 -0.1 -1.5 yaw: 0.5
                        commanding: XYZ -1.0 -0.1 -1.5 yaw: 0.5
                        commanding: XYZ -1.0 -0.1 -1.5 yaw: 0.5
                        commanding: XYZ -1.0 -0.1 -1.5 yaw: 0.5
                        commanding: XYZ -1.0 -0.1 -1.5 yaw: 0.5
                        commanding: XYZ -1.0 -0.1 -1.5 yaw: 0.5
                        commanding: XYZ -1.0 -0.1 -1.5 yaw: 0.5

                        The output from voxl-inspect-vins -n:
                        dt(ms) | T_imu_wrt_vio (m) |Roll Pitch Yaw (deg)|features|quality| state| error_codes
                        33.1 | -1.01 -0.14 -0.79| 1.6 -0.5 148.0| 22 | 78% | OKAY |
                        33.6 | -1.01 -0.14 -0.79| 1.6 -0.4 148.0| 22 | 78% | OKAY |
                        33.3 | -1.01 -0.14 -0.79| 1.6 -0.4 148.0| 22 | 78% | OKAY |
                        33.1 | -1.01 -0.14 -0.79| 1.6 -0.4 148.0| 22 | 78% | OKAY |
                        33.3 | -1.01 -0.14 -0.79| 1.6 -0.4 147.9| 22 | 78% | OKAY |
                        33.6 | -1.01 -0.14 -0.79| 1.5 -0.4 147.9| 22 | 78% | OKAY |
                        33.1 | -1.01 -0.14 -0.79| 1.4 -0.4 147.9| 22 | 78% | OKAY |
                        33.3 | -1.01 -0.14 -0.79| 1.4 -0.4 147.8| 22 | 78% | OKAY |
                        33.3 | -1.01 -0.14 -0.79| 1.5 -0.5 147.8| 22 | 78% | OKAY |
                        33.3 | -1.01 -0.14 -0.79| 1.5 -0.5 147.7| 22 | 78% | OKAY |
                        33.6 | -1.01 -0.14 -0.79| 1.4 -0.5 147.7| 22 | 78% | OKAY |
                        33.1 | -1.01 -0.14 -0.79| 1.4 -0.5 147.6| 22 | 78% | OKAY |
                        33.3 | -1.01 -0.15 -0.79| 1.4 -0.4 147.6| 22 | 78% | OKAY |
                        33.3 | -1.01 -0.15 -0.79| 1.4 -0.5 147.3| 22 | 74% | OKAY |
                        33.6 | -1.01 -0.15 -0.78| 1.1 -0.6 145.1| 21 | 70% | OKAY |
                        33.1 | -1.01 -0.14 -0.77| 1.0 -0.6 141.2| 20 | 70% | OKAY |
                        33.5 | -1.01 -0.14 -0.75| 0.8 -0.7 137.8| 19 | 65% | OKAY |
                        33.1 | -1.01 -0.14 -0.73| 0.6 -0.7 134.0| 25 | 75% | OKAY |
                        33.3 | -1.00 -0.14 -0.70| 0.5 -0.6 129.9| 26 | 83% | OKAY |
                        33.3 | -1.00 -0.14 -0.68| 0.6 -0.5 125.6| 24 | 82% | OKAY |
                        33.3 | -1.00 -0.14 -0.65| 0.7 -0.4 121.1| 26 | 100% | OKAY |
                        33.3 | -1.00 -0.13 -0.62| 0.8 -0.2 116.4| 27 | 100% | OKAY |
                        33.3 | -1.00 -0.13 -0.60| 1.0 -0.1 111.5| 27 | 99% | OKAY |
                        33.3 | -0.99 -0.13 -0.57| 1.2 0.0 106.5| 23 | 100% | OKAY |
                        33.3 | -0.99 -0.13 -0.54| 1.3 0.2 101.4| 18 | 73% | OKAY |
                        33.3 | -0.99 -0.13 -0.52| 1.3 0.3 96.3| 17 | 73% | OKAY |
                        33.3 | -0.99 -0.13 -0.49| 1.4 0.5 91.1| 17 | 65% | OKAY |
                        33.4 | -0.98 -0.13 -0.46| 1.4 0.8 85.8| 17 | 69% | OKAY |
                        33.3 | -0.98 -0.13 -0.43| 1.5 1.0 80.6| 18 | 77% | OKAY |
                        33.3 | -0.98 -0.13 -0.40| 1.5 1.3 75.2| 17 | 60% | OKAY |
                        33.3 | -0.98 -0.13 -0.37| 1.5 1.5 70.0| 16 | 52% | OKAY |
                        33.3 | -0.97 -0.13 -0.34| 1.6 1.6 65.0| 16 | 68% | OKAY |
                        33.3 | -0.97 -0.13 -0.32| 1.7 1.7 60.3| 13 | 51% | OKAY |
                        33.3 | -0.97 -0.13 -0.29| 1.8 1.7 56.0| 12 | 68% | OKAY |
                        33.3 | -0.97 -0.13 -0.26| 2.0 1.7 52.1| 14 | 56% | OKAY |
                        33.3 | -0.97 -0.13 -0.23| 2.2 1.7 48.5| 18 | 77% | OKAY |
                        33.5 | -0.97 -0.13 -0.20| 2.3 1.7 45.4| 25 | 99% | OKAY |
                        33.1 | -0.97 -0.13 -0.17| 2.4 1.9 42.6| 24 | 87% | OKAY |
                        33.6 | -0.97 -0.13 -0.14| 2.4 1.8 40.1| 27 | 100% | OKAY |
                        33.1 | -0.97 -0.13 -0.11| 2.4 1.7 37.9| 29 | 100% | OKAY |
                        33.3 | -0.98 -0.13 -0.08| 2.4 1.4 36.1| 28 | 96% | OKAY |
                        33.3 | -0.98 -0.13 -0.05| 2.2 1.1 34.4| 26 | 100% | OKAY |
                        33.3 | -0.98 -0.13 -0.02| 2.1 0.9 33.1| 24 | 91% | OKAY |
                        33.3 | -0.98 -0.13 0.01| 1.9 0.4 31.9| 28 | 100% | OKAY |
                        33.3 | -0.99 -0.13 0.04| 1.6 0.0 30.9| 22 | 99% | OKAY |
                        33.3 | -0.99 -0.12 0.07| 1.4 -0.0 30.1| 23 | 98% | OKAY |
                        33.3 | -0.99 -0.12 0.10| 1.1 0.1 29.4| 20 | 86% | OKAY |
                        33.3 | -1.00 -0.12 0.13| 0.6 -0.1 28.9| 16 | 80% | OKAY |
                        33.3 | -1.00 -0.12 0.13| 2.0 -1.4 28.8| 13 | 60% | OKAY |
                        33.3 | -1.00 -0.13 0.12| 6.1 -3.1 28.5| 11 | 59% | OKAY |
                        33.3 | -1.00 -0.13 0.13| 9.5 -2.7 28.3| 15 | 52% | OKAY |
                        33.3 | -1.00 -0.13 0.13| 8.4 1.1 28.4| 15 | 52% | OKAY |
                        33.3 | -1.00 -0.14 0.14| 1.3 -0.1 27.9| 16 | 52% | OKAY |
                        33.3 | -1.00 -0.14 0.14| 0.1 0.6 27.3| 17 | 57% | OKAY |
                        33.3 | -1.00 -0.14 0.14| 0.7 0.6 27.3| 17 | 57% | OKAY |
                        33.3 | -1.00 -0.14 0.14| 0.0 0.5 27.2| 16 | 52% | OKAY |
                        33.3 | -1.00 -0.14 0.14| 0.0 0.7 26.9| 16 | 52% | OKAY |
                        33.5 | -1.00 -0.13 0.13| 0.1 0.6 27.0| 16 | 52% | OKAY |
                        33.1 | -1.00 -0.13 0.13| 0.1 0.5 26.9| 16 | 52% | OKAY |
                        33.5 | -1.00 -0.13 0.13| 0.1 0.6 27.0| 16 | 52% | OKAY |
                        33.1 | -1.00 -0.13 0.13| 0.1 0.5 26.9| 16 | 52% | OKAY |
                        33.3 | -1.00 -0.13 0.13| 0.2 0.5 26.9| 20 | 65% | OKAY |
                        33.3 | -1.00 -0.13 0.13| 0.0 0.6 26.9| 20 | 65% | OKAY |
                        33.6 | -1.00 -0.13 0.13| 0.0 0.5 26.9| 20 | 65% | OKAY |
                        33.1 | -1.00 -0.13 0.13| 0.0 0.6 26.9| 20 | 65% | OKAY |
                        33.3 | -1.00 -0.13 0.13| 0.0 0.6 26.9| 20 | 65% | OKAY |
                        33.3 | -1.00 -0.13 0.13| 0.0 0.6 26.9| 20 | 65% | OKAY |
                        33.3 | -1.00 -0.13 0.13| 0.0 0.6 26.9| 20 | 65% | OKAY |
                        33.3 | -1.00 -0.13 0.13| 0.0 0.6 26.9| 20 | 65% | OKAY |
                        33.3 | -1.00 -0.13 0.13| 0.0 0.6 26.9| 20 | 65% | OKAY |
                        33.3 | -1.00 -0.13 0.13| 0.0 0.6 26.9| 20 | 65% | OKAY |
                        33.3 | -1.00 -0.13 0.13| 0.0 0.6 26.9| 20 | 65% | OKAY |

                        I am not sure if the Portal is creating/sending the correct point shown on the map. Is there a way to send a point via the command line? I couldn't find anything specific for this.

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

                          @Cliff-Wong. For completeness below is the output of the start of voxl-vision-hub --debug_offboard. I trimmed the entire output above until the drone started to move from the plan_to command.

                          voxl2:~$ voxl-vision-hub --debug_offboard

                          VOXL FLIGHT CONTROLLER (VFC)
                          always_on 0
                          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_backtrack_seconds : 60
                          vfc_backtrack_rc_chan : 10
                          vfc_backtrack_rc_thresh : 1500
                          vfc_alt_mode_rc_min 0
                          vfc_alt_mode_rc_max 0
                          vfc_flow_mode_rc_min 1700
                          vfc_flow_mode_rc_max 2100
                          vfc_hybrid_flow_mode_rc_min 0
                          vfc_hybrid_flow_mode_rc_max 0
                          vfc_position_mode_rc_min 1300
                          vfc_position_mode_rc_max 1700
                          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 0.250000
                          vfc_vz_max 1.000000
                          vfc_kp_z 5.000000
                          vfc_ki_z 0.500000
                          vfc_ki_z_max 0.300000
                          vfc_kd_z 4.000000
                          vfc_vxy_max 3.000000
                          vfc_kp_xy 0.640000
                          vfc_kd_xy 2.560000
                          vfc_kp_z_vio 5.000000
                          vfc_ki_z_vio 0.700000
                          vfc_kd_z_vio 5.000000
                          vfc_kp_xy_vio 6.000000
                          vfc_kd_xy_vio 4.000000
                          vfc_w_filt_xy_vio 10.000000
                          vfc_w_filt_xy_flow 3.000000
                          vfc_vel_ff_factor_vio 0.500000
                          vfc_xy_acc_limit_vio 3.000000
                          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 15
                          vfc_points_min 0
                          vfc_en_submode_announcement 1
                          vfc_en_backtrack_heading_hold 0
                          vfc_disable_fallback 0

                          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: 3.000000
                          send_odom_while_failed: 1

                          MISC FEATURES
                          horizon_cal_tolerance: 0.500000
                          en_hitl: 0
                          OFFBOARD MODE
                          offboard_mode: trajectory
                          follow_tag_id: 0
                          figure_eight_move_home: 1
                          tracking_trigger_ch: 12
                          tracking_trigger_ch_thresh_temp: 1200
                          tracking_trigger_ch_thresh_new: 1800
                          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
                          FIXED FRAME RELOCALIZATION
                          en_tag_fixed_frame: 0
                          fixed_frame_filter_len: 5
                          en_transform_mavlink_pos_setpoints_from_fixed_frame: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
                          existing instance of voxl-vision-hub found, attempting to stop it
                          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 voxl-mavlink-server
                          Connected to VIO pipe: ov
                          Geometry module updating to use imu: imu_apps_body for VIO
                          ERROR in vcc_fetch_extrinsic, failed to find desired extrinsic relation in file
                          Likely you need to run voxl-configure-extrinsics to make a new file
                          ERROR: /etc/modalai/extrinsics.conf missing body to imu_apps_body, sticking with identity for now
                          Detected Autopilot Mavlink SYSID 1
                          requesting autopilot_version
                          Detected autopilot version: 1.14.0
                          starting tag manager
                          starting voa manager
                          ERROR in pipe_client_open, channel 11 already running
                          Connected to VOA input pipe: tof
                          starting horizon cal module
                          starting imu manager
                          starting state manager
                          starting offboard trajectory
                          Connected to voxl-mapper
                          voxl-mapper pipe size is: 65536 bytes
                          Init complete
                          Trajectory Monitor connected to voa pointcloud
                          commanding: XYZ -1.0 -0.1 -2.3 yaw: 0.1
                          WARNING in VOA manager, no attitude data from px4

                          Cliff WongC 1 Reply Last reply Reply Quote 0
                          • Cliff WongC
                            Cliff Wong ModalAI Team @greg_s
                            last edited by

                            @greg_s said in Starling 2 not following navigation path:

                            One thing that looks suspect is the voxl-mapper pipe size 64k bytes is much smaller than expect (usually in MB, e.g. 32MB-64MB). Is this a preloaded 3D map?

                            Otherwise your VIO data looks good. It appears the drone does go to the 1st setpoint (1st leg of the trajectory) where that setpoint also looks as if it is landing. It's possible the landing detector was triggered and why everything stops.

                            I suggest the following:

                            • power up, ssh into 2 terminals

                            • terminal 1 -- run the voxl-mapper
                              terminal 2 -- run voxl-vision-hub --debug_offboard

                            • take off in position mode, bring up the portal into mapper 3D view as normal, perform a 360 yaw to get a good map

                            • Select "Plan a Point": draw your point and position it correctly

                            • switch to offboard mode (which you have set correctly to 'trajectory')

                            • Select GO!

                            • Select "Follow Path"
                              (If no follow path is offered then the A* path creation failed)

                            Hopefully with that sequence, you'll see the drone move along the path. If it does not, then the voxl-mapper output in terminal 1 will tell us if a latency is the culprit.

                            As an example, here's how I expect the above to play out.. If you cannot repeat this then it maybe worth upgrading to SDK 1.6.3 (as the example was generated in).

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