MAVLink Odometry X Y value 0

Kris

@Chad-Sweet
So, what do you think the problem might be?
I’ll be taking a more detailed look at PX4 next.
If you feel that is where the issue is for the VIO.

Kris

@Chad-Sweet
I really do appreciate you helping me with this.
Thank you!

Kris

Hi,
If the problem is coming from PX4, how should I go about resolving it? Should I be speaking with PX4 support instead of ModalAi?

Kris

@Chad-Sweet @Adrian-Hidalgo ,
For PX4 confirmation, here is my voxl vision status.

voxl:~$ systemctl status voxl-vision-px4 -l
● voxl-vision-px4.service - voxl-vision-px4
   Loaded: loaded (/usr/bin/voxl-vision-px4; enabled; vendor preset: enabled)
   Active: active (running) since Thu 1970-01-01 00:00:06 UTC; 52 years 8 months ago
 Main PID: 2073 (voxl-vision-px4)
   CGroup: /system.slice/voxl-vision-px4.service
           └─2073 /usr/bin/voxl-vision-px4

Sep 02 16:25:57 apq8096 voxl-vision-px4[2073]: ERROR validating VIO data received through pipe: read partial packet
Sep 02 16:25:57 apq8096 voxl-vision-px4[2073]: read 156 bytes, but it should be a multiple of 324
Sep 02 16:25:57 apq8096 voxl-vision-px4[2073]: ERROR validating VIO data received through pipe: read partial packet
Sep 02 16:25:57 apq8096 voxl-vision-px4[2073]: read 156 bytes, but it should be a multiple of 324
Sep 02 16:25:57 apq8096 voxl-vision-px4[2073]: ERROR validating VIO data received through pipe: read partial packet
Sep 02 16:25:57 apq8096 voxl-vision-px4[2073]: read 156 bytes, but it should be a multiple of 324
Sep 02 16:25:57 apq8096 voxl-vision-px4[2073]: ERROR validating VIO data received through pipe: read partial packet
Sep 02 16:25:57 apq8096 voxl-vision-px4[2073]: read 156 bytes, but it should be a multiple of 324
Sep 02 16:25:57 apq8096 voxl-vision-px4[2073]: ERROR validating VIO data received through pipe: read partial packet
Sep 02 16:25:57 apq8096 voxl-vision-px4[2073]: read 156 bytes, but it should be a multiple of 324
voxl:~$

Could this be a time/clock, or a watchdog timer issue?

Active: active (running) since Thu 1970-01-01 00:00:06 UTC; 52 years 8 months ago

James Strawson

Hi Kris

It looks like the voxl-vision-px4 and voxl-qvio-server versions have gotten out of sync, likely voxl-vision-px4 has been updated but voxl-qvio-server was not.

Do you mind proving the output from the following 3 commands so I can check the state of the opkg package manager

cat /etc/opkg/opkg.conf 
opkg info voxl-vision-px4
opkg info voxl-qvio-server

Thanks,
James

Kris

Hi @James-Strawson , thank you. Here are the outputs you have requested.

################################################################
## This file has been automatically generated.
## Please use voxl-configure-opkg to modify it.
################################################################
dest root /
option lists_dir /var/lib/opkg/lists
arch all 1
arch arm64 7

src/gz modalai http://voxl-packages.modalai.com/dists/apq8096/stable/binary-arm64/

voxl:~$ opkg info voxl-vision-px4
Package: voxl-vision-px4
Version: 1.2.0
Depends: librc-math, libmodal-pipe (>= 2.4.0), libmodal-json, voxl-mpa-tools (>= 0.2.5), voxl-mavlink-server, libmodal-cv (>= 0.1.0)
Status: install user installed
Section: base
Architecture: arm64
Maintainer: James Strawson <james@modalai.com>
MD5Sum: 4bcff955596c2a5964d68cacf60d08a8
Size: 106864
Filename: voxl-vision-px4_1.2.0.ipk
Description: Interface between VOXL's computer vision services and PX4
Installed-Time: 1661276328

voxl:~$ opkg info voxl-qvio-server
Package: voxl-qvio-server
Version: 0.7.1
Depends: libmodal-pipe (>= 2.4.0), libmodal-json (>= 0.4.0), voxl-mpa-tools (>= 0.7.0)
Status: unknown ok not-installed
Section: base
Architecture: arm64
Maintainer: james@modalai.com
MD5Sum: 2ccb793c2d7059217d9d32b54564352b
Size: 55416
Filename: voxl-qvio-server_0.7.1.ipk
Description: publishes QVIO data over named pipe interface

Package: voxl-qvio-server
Version: 0.4.6
Depends: libmodal-pipe (>= 2.0.0), libmodal-json (>= 0.4.0), voxl-mpa-tools
Status: install ok installed
Architecture: arm64
Installed-Time: 6815

qvio-server version 0.7.1 status: unknown ok not-installed

voxl:~$ opkg list-installed | grep "libmodal"
libmodal-cv - 0.1.0
libmodal-exposure - 0.0.7
libmodal-json - 0.4.2
libmodal-pipe - 2.4.0

James Strawson

Yes, It seems your installed voxl-vision-px4 and libmodal_pipe versions are from SDK 0.8 wheras your voxl-qvio-server is from SDK 0.7, that is the source of the mismatch.

You can upgrade qvio server with opkg install voxl-qvio-server to fix the mismatch quickly but I would recommend just flashing back to the SDK 0.7 platform release since SDK 0.8 does not support TOF on VOXL1. The platform releases are tested as a whole an include a set of packages all known to work together. When individual packages get upgraded instead of the whole SDK together then things tend to break.

Kris

@James-Strawson
Thank you, I will try this

Kris

@James-Strawson could you please help me with flashing back to SDK 0.7 or provide a link explaining how to flash back to a lower SDK?
This can be done over ssh right? Or do I need to ADB into voxl?

James Strawson

Instructions here: https://docs.modalai.com/flash-system-image/

The latest platform release for voxl1 is voxl_platform_3.8.0-0.7.tar available for download here https://developer.modalai.com/asset/1

Kris

@James-Strawson oh ok, now I remember
Cheers mate!

Kris

@Chad-Sweet @Adrian-Hidalgo @James-Strawson
Everything is working now! THANK YOU so much for all your help!!!

Kris

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