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

      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
        

        ๐Ÿ˜–

        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 ๐Ÿ‘ Iโ€™ll try that ๐Ÿ˜Š

                              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 โ€œAutomaticโ€ or select โ€œNoneโ€ ?

                                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
                                          • Chad SweetC
                                            Chad Sweet ModalAI Team
                                            last edited by

                                            Here are the default Seeker parameters for PX4 1.11

                                            Here are the helper parameters for Seeker indoor VIO flight

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