ModalAI Forum
    • Categories
    • Recent
    • Tags
    • Popular
    • Users
    • Groups
    • Register
    • Login

    MAVLink Odometry X Y value 0

    Ask your questions right here!
    4
    78
    6205
    Loading More Posts
    • Oldest to Newest
    • Newest to Oldest
    • Most Votes
    Reply
    • Reply as topic
    Log in to reply
    This topic has been deleted. Only users with topic management privileges can see it.
    • KrisK
      Kris
      last edited by Kris

      Here are my voxl-vision-px4 -o readouts;
      There are definitely errors in the VIO data through the pipe, I just don't know how to fix it.

      If anyone has any ideas to fix this issue, I'm all ears πŸ‘‚

      voxl:~$ voxl-vision-px4 -o
      loading our own config file
      =================================================================
      Parameters as loaded from config file:
      config_file_version:        1
      MAVLINK IO
      qgc_ip:                     192.168.110.146
      en_secondary_qgc:           0
      secondary_qgc_ip:           192.168.1.214
      qgc_udp_port_number:        14550
      udp_mtu:                    512
      en_localhost_mavlink_udp    1
      localhost_udp_port_number:  14551
      VIO
      en_vio:                     1
      vio_pipe:                   qvio
      en_send_vio_to_qgc:         1
      en_reset_vio_if_initialized_inverted: 1
      vio_warmup_s:               4.000000
      APQ8096-ONLY FEATURES
      en_set_clock_from_gps:      1
      en_force_onboard_mav1_mode: 1
      en_reset_px4_on_error:      1
      MISC FEATURES
      horizon_cal_tolerance:      0.300000
      OFFBOARD MODE
      offboard_mode:              trajectory
      follow_tag_id:              0
      figure_eight_move_home:     1
      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
      en_send_voa_to_qgc:         1
      voa_upper_bound_m:          -0.150000
      voa_lower_bound_m:          0.150000
      voa_memory_s:               1.000000
      voa_input #0
          enabled:            1
          type:               point_cloud
          input_pipe:         dfs_point_cloud
          frame:              stereo_l
      voa_input #1
          enabled:            1
          type:               point_cloud
          input_pipe:         stereo_front_pc
          frame:              stereo_front_l
      voa_input #2
          enabled:            1
          type:               point_cloud
          input_pipe:         stereo_rear_pc
          frame:              stereo_rear_l
      voa_input #3
          enabled:            1
          type:               tof
          input_pipe:         tof
          frame:              tof
      voa_input #4
          enabled:            1
          type:               rangefinder
          input_pipe:         rangefinders
          frame:              body
      =================================================================
      loading extrinsics config file
      starting geometry module
      starting px4 monitor
      starting px4 mavlink
      Connected to voxl-mavlink-server
      Detected PX4 Mavlink SYSID 1
      starting udp mavlink
      Adding manual QGC IP address to udp connection list: 192.168.110.146
      Added new UDP connection to 192.168.110.146
      starting px4 shell
      starting fixed pose input
      starting vio manager
      Connected to VIO pipe: qvio
      updating to use imu: imu1
      done updating transforms to use imu: imu1
      detected system time has already been set
      starting tag manager
      starting voa manager
      ERROR validating VIO data received through pipe: read partial packet
      read 156 bytes, but it should be a multiple of 324
      Connected to pipe: dfs_point_cloud
      starting horizon cal
      Connected to pipe: tof
      starting offboard trajectory
      Init complete, entering main loop
      ERROR validating VIO data received through pipe: read partial packet
      read 156 bytes, but it should be a multiple of 324
      ERROR validating VIO data received through pipe: read partial packet
      read 156 bytes, but it should be a multiple of 324
      ERROR validating VIO data received through pipe: read partial packet
      read 156 bytes, but it should be a multiple of 324
      ERROR validating VIO data received through pipe: read partial packet
      read 156 bytes, but it should be a multiple of 324
      ERROR validating VIO data received through pipe: read partial packet
      read 156 bytes, but it should be a multiple of 324
      ERROR validating VIO data received through pipe: read partial packet
      read 156 bytes, but it should be a multiple of 324
      ERROR validating VIO data received through pipe: read partial packet
      read 156 bytes, but it should be a multiple of 324
      ERROR validating VIO data received through pipe: read partial packet
      read 156 bytes, but it should be a multiple of 324
      ERROR validating VIO data received through pipe: read partial packet
      read 156 bytes, but it should be a multiple of 324
      ERROR validating VIO data received through pipe: read partial packet
      read 156 bytes, but it should be a multiple of 324
      ERROR validating VIO data received through pipe: read partial packet
      read 156 bytes, but it should be a multiple of 324
      ERROR validating VIO data received through pipe: read partial packet
      read 156 bytes, but it should be a multiple of 324
      ERROR validating VIO data received through pipe: read partial packet
      read 156 bytes, but it should be a multiple of 324
      ERROR validating VIO data received through pipe: read partial packet
      read 156 bytes, but it should be a multiple of 324
      ERROR validating VIO data received through pipe: read partial packet
      read 156 bytes, but it should be a multiple of 324
      ERROR validating VIO data received through pipe: read partial packet
      read 156 bytes, but it should be a multiple of 324
      ERROR validating VIO data received through pipe: read partial packet
      read 156 bytes, but it should be a multiple of 324
      ERROR validating VIO data received through pipe: read partial packet
      read 156 bytes, but it should be a multiple of 324
      ERROR validating VIO data received through pipe: read partial packet
      read 156 bytes, but it should be a multiple of 324
      ERROR validating VIO data received through pipe: read partial packet
      read 156 bytes, but it should be a multiple of 324
      ERROR validating VIO data received through pipe: read partial packet
      read 156 bytes, but it should be a multiple of 324
      ERROR validating VIO data received through pipe: read partial packet
      read 156 bytes, but it should be a multiple of 324
      ERROR validating VIO data received through pipe: read partial packet
      read 156 bytes, but it should be a multiple of 324
      ^C
      received SIGINT Ctrl-C
      Starting shutdown sequence
      stopping offboard trajectory
      exiting offboard trajectory thread
      stopping horizon_cal
      stopping voa manager
      ERROR validating VIO data received through pipe: read partial packet
      read 156 bytes, but it should be a multiple of 324
      exiting VOA thread
      stopping tag manager
      stopping vio manager
      stopping fixed pose in module
      stopping px4 shell module
      Stopping udp mavlink module
      exiting localhost udp listener thread
      exiting QGC udp listener thread
      udp_mavlink stopped
      Stopping uart mavlink module
      waiting for px4 mavlink timer thread to join
      Stopping px4 monitor
      closing remaining client pipes
      closing remaining server pipes
      Removing PID file
      exiting
      voxl:~$ 
      
      
      1 Reply Last reply Reply Quote 0
      • KrisK
        Kris
        last edited by

        Could this issue be coming from imu0 and imu1?

        1 Reply Last reply Reply Quote 0
        • KrisK
          Kris
          last edited by Kris

          Has anyone had this error message on their system?

          ERROR validating VIO data received through pipe: read partial packet
          read 156 bytes, but it should be a multiple of 324
          

          If so, how was it resolved?

          Here is my debug odometry;

          voxl:~$ voxl-vision-px4 --debug_odometry
          loading our own config file
          =================================================================
          Parameters as loaded from config file:
          config_file_version:        1
          MAVLINK IO
          qgc_ip:                     192.168.110.146
          en_secondary_qgc:           0
          secondary_qgc_ip:           192.168.1.214
          qgc_udp_port_number:        14550
          udp_mtu:                    512
          en_localhost_mavlink_udp    1
          localhost_udp_port_number:  14551
          VIO
          en_vio:                     1
          vio_pipe:                   qvio
          en_send_vio_to_qgc:         1
          en_reset_vio_if_initialized_inverted: 1
          vio_warmup_s:               3.000000
          APQ8096-ONLY FEATURES
          en_set_clock_from_gps:      1
          en_force_onboard_mav1_mode: 1
          en_reset_px4_on_error:      1
          MISC FEATURES
          horizon_cal_tolerance:      0.450000
          OFFBOARD MODE
          offboard_mode:              trajectory
          follow_tag_id:              0
          figure_eight_move_home:     1
          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
          en_send_voa_to_qgc:         1
          voa_upper_bound_m:          -0.150000
          voa_lower_bound_m:          0.150000
          voa_memory_s:               1.000000
          voa_input #0
              enabled:            1
              type:               point_cloud
              input_pipe:         dfs_point_cloud
              frame:              stereo_l
          voa_input #1
              enabled:            1
              type:               point_cloud
              input_pipe:         stereo_front_pc
              frame:              stereo_front_l
          voa_input #2
              enabled:            1
              type:               point_cloud
              input_pipe:         stereo_rear_pc
              frame:              stereo_rear_l
          voa_input #3
              enabled:            1
              type:               tof
              input_pipe:         tof
              frame:              tof
          voa_input #4
              enabled:            1
              type:               rangefinder
              input_pipe:         rangefinders
              frame:              body
          =================================================================
          loading extrinsics config file
          exising instance of voxl-vision-px4 found, attempting to stop it
          starting geometry module
          starting px4 monitor
          starting px4 mavlink
          Connected to voxl-mavlink-server
          Detected PX4 Mavlink SYSID 1
          starting udp mavlink
          Adding manual QGC IP address to udp connection list: 192.168.110.146
          Added new UDP connection to 192.168.110.146
          starting px4 shell
          starting fixed pose input
          starting vio manager
          Connected to VIO pipe: qvio
          updating to use imu: imu1
          done updating transforms to use imu: imu1
          ERROR validating VIO data received through pipe: read partial packet
          read 156 bytes, but it should be a multiple of 324
          starting tag manager
          starting voa manager
          Connected to pipe: dfs_point_cloud
          Connected to pipe: tof
          starting horizon cal
          starting offboard trajectory
          Init complete, entering main loop
          ERROR validating VIO data received through pipe: read partial packet
          read 156 bytes, but it should be a multiple of 324
          ERROR validating VIO data received through pipe: read partial packet
          read 156 bytes, but it should be a multiple of 324
          ERROR validating VIO data received through pipe: read partial packet
          read 156 bytes, but it should be a multiple of 324
          ERROR validating VIO data received through pipe: read partial packet
          read 156 bytes, but it should be a multiple of 324
          ERROR validating VIO data received through pipe: read partial packet
          read 156 bytes, but it should be a multiple of 324
          ERROR validating VIO data received through pipe: read partial packet
          read 156 bytes, but it should be a multiple of 324
          detected system time has already been set
          ERROR validating VIO data received through pipe: read partial packet
          read 156 bytes, but it should be a multiple of 324
          WARNING in VOA manager, no attitude data from px4
          ERROR validating VIO data received through pipe: read partial packet
          read 156 bytes, but it should be a multiple of 324
          ERROR validating VIO data received through pipe: read partial packet
          read 156 bytes, but it should be a multiple of 324
          ERROR validating VIO data received through pipe: read partial packet
          read 156 bytes, but it should be a multiple of 324
          ERROR validating VIO data received through pipe: read partial packet
          read 156 bytes, but it should be a multiple of 324
          ERROR validating VIO data received through pipe: read partial packet
          read 156 bytes, but it should be a multiple of 324
          ERROR validating VIO data received through pipe: read partial packet
          read 156 bytes, but it should be a multiple of 324
          ERROR validating VIO data received through pipe: read partial packet
          read 156 bytes, but it should be a multiple of 324
          ERROR validating VIO data received through pipe: read partial packet
          read 156 bytes, but it should be a multiple of 324
          ERROR validating VIO data received through pipe: read partial packet
          read 156 bytes, but it should be a multiple of 324
          ERROR validating VIO data received through pipe: read partial packet
          read 156 bytes, but it should be a multiple of 324
          ERROR validating VIO data received through pipe: read partial packet
          read 156 bytes, but it should be a multiple of 324
          ERROR validating VIO data received through pipe: read partial packet
          read 156 bytes, but it should be a multiple of 324
          ERROR validating VIO data received through pipe: read partial packet
          

          There is also one VOA manager WARNING in my odometry debug, with no attitude data from px4....

          WARNING in VOA manager, no attitude data from px4
          

          πŸ˜–

          1 Reply Last reply Reply Quote 0
          • Chad SweetC
            Chad Sweet ModalAI Team
            last edited by

            From the Troubleshooting VIO docs, can you try these steps?

            QVIO Overlay in voxl-portal
            voxl-inspect-qvio

            KrisK 2 Replies Last reply Reply Quote 0
            • KrisK
              Kris @Chad Sweet
              last edited by

              @Chad-Sweet Yes, I have read through those steps and tried them. All of my cameras are viewable in voxl-portal. I have also ran the voxl-inspect-qvio and the status was ok with no error's.

              1 Reply Last reply Reply Quote 0
              • Chad SweetC
                Chad Sweet ModalAI Team
                last edited by

                Can you please share the output of those steps?

                KrisK 1 Reply Last reply Reply Quote 0
                • KrisK
                  Kris @Chad Sweet
                  last edited by

                  @Chad-Sweet

                  voxl:~$ voxl-inspect-qvio
                  waiting for server
                  
                      T_imu_wrt_vio (m)   |Roll Pitch Yaw (deg)| state| error_code
                     -0.00    0.00    0.00|  -0.0    0.0   -0.0| OKAY | ^C
                  received SIGINT Ctrl-C
                  
                  closing and exiting
                  
                  1 Reply Last reply Reply Quote 0
                  • KrisK
                    Kris @Chad Sweet
                    last edited by

                    @Chad-Sweet What would you like to see in my voxl portal?

                    1 Reply Last reply Reply Quote 0
                    • KrisK
                      Kris
                      last edited by

                      Here I have turned the drone about an inch to the left.

                      voxl:~$ voxl-inspect-qvio
                      waiting for server
                      
                          T_imu_wrt_vio (m)   |Roll Pitch Yaw (deg)| state| error_code
                         -0.02    0.00    0.03|   0.3  -10.3    1.7| OKAY | ^C
                      received SIGINT Ctrl-C
                      
                      closing and exiting
                      
                      
                      1 Reply Last reply Reply Quote 0
                      • Chad SweetC
                        Chad Sweet ModalAI Team
                        last edited by

                        The qvio-overlay in voxl-portal is interesting, but from the voxl-inspect-qvio it looks like VIO is working properly. It's mostly likely PX4 is rejecting position mode, usually because it requires a magnetometer.

                        This section covers position mode rejected issues

                        Do you have a magnetometer connected? If not, are you sure PX4 is not expecting one?

                        KrisK 2 Replies Last reply Reply Quote 0
                        • KrisK
                          Kris @Chad Sweet
                          last edited by

                          @Chad-Sweet I haven't added anything special to my Seeker setup.

                          1 Reply Last reply Reply Quote 0
                          • KrisK
                            Kris @Chad Sweet
                            last edited by

                            @Chad-Sweet
                            SYS_HAS_MAG
                            SYS_HAS_MAG.png

                            EKF2_MAG_TYPE
                            EKF2_MAG_TYPE.png

                            So, I should enter the 0 value for SYS_HAS_MAG
                            and 5 for the EKF2_MAG_TYPE?

                            1 Reply Last reply Reply Quote 0
                            • Chad SweetC
                              Chad Sweet ModalAI Team
                              last edited by

                              If you are using PX4 1.12 or later, and do not have a magnetometer, and want to use VIO, yes.

                              KrisK 3 Replies Last reply Reply Quote 0
                              • KrisK
                                Kris @Chad Sweet
                                last edited by

                                @Chad-Sweet OK πŸ‘ I’ll try that 😊

                                1 Reply Last reply Reply Quote 0
                                • KrisK
                                  Kris @Chad Sweet
                                  last edited by Kris

                                  @Chad-Sweet There is not an option for 5 in EKF2_MAG_TYPE.
                                  Should I leave this at β€œAutomatic” or select β€œNone” ?

                                  1 Reply Last reply Reply Quote 0
                                  • KrisK
                                    Kris @Chad Sweet
                                    last edited by Kris

                                    @Chad-Sweet I selected "None" for the EKF2_MAG_TYPE and entered "0" for the SYS_HAS_MAG.
                                    The Odometry x y values are still at 0.
                                    Do I need to change anything in my voxl-vision-px4.conf files now that I am not using a GPS?

                                    "config_file_version":  1,                                                                   
                                            "qgc_ip":       "192.168.110.146",                                                           
                                            "en_secondary_qgc":     false,                                                               
                                            "secondary_qgc_ip":     "192.168.1.214",                                                     
                                            "qgc_udp_port_number":  14550,                                                               
                                            "udp_mtu":      512,                                                                         
                                            "en_localhost_mavlink_udp":     true,                                                        
                                            "localhost_udp_port_number":    14551,                                                       
                                            "vio_pipe":     "qvio",                                                                      
                                            "en_vio":       true,                                                                        
                                            "en_send_vio_to_qgc":   true,                                                                
                                            "en_reset_vio_if_initialized_inverted": true,                                                
                                            "vio_warmup_s": 3,                                                                           
                                            "en_set_clock_from_gps":        true,                                                        
                                            "en_force_onboard_mav1_mode":   true,                                                        
                                            "en_reset_px4_on_error":        true,                                                        
                                            "horizon_cal_tolerance":        0.449999988079071,                                           
                                            "offboard_mode":        "trajectory",                                                        
                                            "follow_tag_id":        0,                                                                   
                                            "figure_eight_move_home":       true,                                                        
                                            "en_tag_fixed_frame":   false,                                                               
                                            "fixed_frame_filter_len":       5,                                                           
                                            "en_transform_mavlink_pos_setpoints_from_fixed_frame":  false,                               
                                            "en_voa":       true,                                                                        
                                            "en_send_voa_to_qgc":   true,                                                                
                                            "voa_upper_bound_m":    -0.15000000596046448,                                                
                                            "voa_lower_bound_m":    0.15000000596046448,                                                 
                                            "voa_memory_s": 1,                                                                           
                                            "voa_inputs":   [{                                                                           
                                                            "enabled":      true,                                                        
                                                                                    "type": "point_cloud",                                                       
                                                                                    "input_pipe":   "dfs_point_cloud",                                           
                                                                                    "frame":        "stereo_l"                                                   
                                                                            }, {                                                                                 
                                                                                    "enabled":      true,                                                        
                                                                                    "type": "point_cloud",                                                       
                                                                                    "input_pipe":   "stereo_front_pc",                                           
                                                                                    "frame":        "stereo_front_l"                                             
                                                                            }, {                                                                                 
                                                                                    "enabled":      true,                                                        
                                                                                    "type": "point_cloud",                                                       
                                                                                    "input_pipe":   "stereo_rear_pc",                                            
                                                                                    "frame":        "stereo_rear_l"                                              
                                                                            }, {                                                                                 
                                                                                    "enabled":      true,                                                        
                                                                                    "type": "tof",                                                               
                                                                                    "input_pipe":   "tof",                                                       
                                                                                    "frame":        "tof"                                                        
                                                                            }, {                                                                                 
                                                                                    "enabled":      true,                                                        
                                                                                    "type": "rangefinder",                                                       
                                                                                    "input_pipe":   "rangefinders",                                              
                                                                                    "frame":        "body"                                                       
                                                                            }]                                                                                   
                                                            }                                                                                                    
                                    

                                    Should I just unplug the Cirocomm GPS?

                                    1 Reply Last reply Reply Quote 0
                                    • KrisK
                                      Kris
                                      last edited by

                                      I unplugged the GPS from the Seeker. I am still not able to get position control in MAVLink and my Odometry x y values are still at 0.
                                      Maybe the last option to do is to re-calibrate my cameras...

                                      1 Reply Last reply Reply Quote 0
                                      • Chad SweetC
                                        Chad Sweet ModalAI Team
                                        last edited by Chad Sweet

                                        If voxl-inspect-qvio shows functioning VIO data, there is no need to calibrate cameras. VIO is working. PX4 is most likely misconfigured.

                                        If you have a GPS, then you likely have a magnetometer?

                                        Seeker should have arrived pre-configured for VIO flight. No need to change anything. VIO is flight tested for 20 minutes before being shipped.

                                        KrisK 2 Replies Last reply Reply Quote 0
                                        • KrisK
                                          Kris @Chad Sweet
                                          last edited by

                                          @Chad-Sweet
                                          Multi-View-r.png

                                          1 Reply Last reply Reply Quote 0
                                          • KrisK
                                            Kris @Chad Sweet
                                            last edited by

                                            @Chad-Sweet
                                            Yes, I have this GPS/Magnetometer that is on the back of the Seeker above the battery compartment.
                                            Seeker.png

                                            If my PX4 is possibly misconfigured, should I just remove PX4 and start clean?
                                            Or, is there something you might know that could be causing the problem in PX4?

                                            1 Reply Last reply Reply Quote 0
                                            • First post
                                              Last post
                                            Powered by NodeBB | Contributors