VOXL M500 vision problem!!

Chad Sweet

Is the tracking camera looking at interesting "features" when it takes off, or is it just white floor? If it can start on a carpet or something, the vision system will have something to track. this will help VIO reduce drift.

Vũ Văn Long

it just is a whitle floor like this

Chad Sweet

Can you put some pieces of duct tape on the floor or something to make it more interesting to the VIO system? Especially since it looks like that floor might be reflective. Random small pieces of tape, like electrical or duct tape, would likely help.

You can monitor the VIO stability on QGC. Those numbers should stabilize after takeoff, but obviously you want them stable on the ground too.

Vũ Văn Long

hi, here is the video i just captured https://drive.google.com/file/d/1Am63zD09am8nx_BBpAB2JfTYcf_IFMST/view?usp=sharing

Vũ Văn Long

the local NED position is look good at the init state as well as when i move the drone into the other location.

Chad Sweet

thanks for sending, I will pass along to someone more familiar. Was this all working before? Do you know what has changed?

Vũ Văn Long

last week it used to work normally. i did't changed any strange thing, just re-configuration the drone to the factory state. by "voxl-configure-vision-px4 -f" to take again the NED position cuz before that i had config vision lib by "voxl-configure-modalai-vl" and the local poistion is lost.

Vũ Văn Long

pls help me soon. we can set up an online support via teamview to make the problem more clearly.

James Strawson

Does this behavior only occur in PX4 position mode? Does it fly in PX4 manual mode?

Vũ Văn Long

@James-Strawson yes,we only test uav in position mode. we didn't use manual for testing.

Chad Sweet

Please try manual mode. it seems there might be a PX4 parameter mismatch. It would be good to see if the m500 flies properly without VIO.

@modaltb Do you have a pointer to the Flight Core factory parmeters?

The VIO indoor EKF parameters are here

modaltb

There's a few files (as we use DRY even on params The procedure to do this is here

When you reload the airframe (via these parameters) you'll end up losing calibration and having to go through the calibration process. This is documented here

You'll end up loading these, in this order:

configures core airframe for m500 with 4S battery (standard):
https://gitlab.com/voxl-public/flight-core-px4/px4-parameters/-/raw/master/platforms/v1.10/m500_4s_config.params
VIO indoor EKF
https://gitlab.com/voxl-public/flight-core-px4/px4-parameters/-/raw/master/helpers/ekf2_indoor_vio.params
Serial params (to be safe, these should be set by default)
https://gitlab.com/voxl-public/flight-core-px4/px4-parameters/-/blob/master/helpers/mavlink_serial_ports.params
If needed and applicable, radio
https://gitlab.com/voxl-public/flight-core-px4/px4-parameters/-/blob/master/helpers/gimbal_dx8_config.params