Unstable Seeker after flashing

tomipi

Hi,

After flashing Seeker with VOXL Platform Release version 3-3-0-0.5.0-a, the drone becomes unstable. For example:

for voxl-inspect-qvio the state is often FALSE,
in QGC, LOCAL_POSITION_NED is displaying 0 for x and y, and
flight modes cannot be changed from manual.

I wonder if this platform version is compatible with Seeker.

Best regards,
Tomi

Chad Sweet

Have you followed the configure cameras and configure extrinsics instructions?

tomipi

I believe configuring extrinsics solved most of the problems. However, the drone is till unstable. I believe, this is due to camera calibration issues. Could you send me the factory calibration files? The serial number is: M2100000ADF

tomipi

The drone is stable now after the factory reset.

However, the obstacle detection is not working. I have performed all the steps described in the collision preventation documentation. Running voxl-vision-px4 -s shows only 0s, and plotting obstacle detection values in QGC shows constant value of 800.

Chad Sweet

Below is how the data is stored in our factory test system. You'll have to put in the appropriate files on the device
Stereo

left_file:
image_width: 640 image_height: 480 camera_name: stereo/left camera_matrix: rows: 3 cols: 3 data: [487.942708, 0.000000, 324.262987, 0.000000, 488.207664, 226.535030, 0.000000, 0.000000, 1.000000] distortion_model: plumb_bob distortion_coefficients: rows: 1 cols: 5 data: [-0.183242, 0.092993, 0.001636, 0.002351, 0.000000] rectification_matrix: rows: 3 cols: 3 data: [0.999402, 0.017884, -0.029602, -0.018147, 0.999798, -0.008634, 0.029442, 0.009166, 0.999524] projection_matrix: rows: 3 cols: 4 data: [481.408541, 0.000000, 335.745487, 0.000000, 0.000000, 481.408541, 235.869326, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]

right_file:
image_width: 640 image_height: 480 camera_name: stereo/right camera_matrix: rows: 3 cols: 3 data: [494.322761, 0.000000, 306.787914, 0.000000, 494.936946, 243.259023, 0.000000, 0.000000, 1.000000] distortion_model: plumb_bob distortion_coefficients: rows: 1 cols: 5 data: [-0.190425, 0.125860, 0.001785, 0.001663, 0.000000] rectification_matrix: rows: 3 cols: 3 data: [0.999639, 0.001549, -0.026818, -0.001310, 0.999959, 0.008920, 0.026831, -0.008881, 0.999601] projection_matrix: rows: 3 cols: 4 data: [481.408541, 0.000000, 335.745487, -38.658530, 0.000000, 481.408541, 235.869326, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]

Tracking
cal_file:
image_width: 640 image_height: 480 camera_name: tracking camera_matrix: rows: 3 cols: 3 data: [274.922032, 0.000000, 309.952588, 0.000000, 274.948673, 251.752841, 0.000000, 0.000000, 1.000000] distortion_model: fisheye distortion_coefficients: rows: 1 cols: 4 data: [-0.010459, 0.020757, -0.019777, 0.006074] rectification_matrix: rows: 3 cols: 3 data: [1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000] projection_matrix: rows: 3 cols: 4 data: [297.615845, 0.000000, 316.949822, 0.000000, 0.000000, 293.292755, 235.377491, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]

tomipi

Thanks Chad. We did the calibration again with a better calibration target, and this fixed the problem.