X and Y coordinates zero after pushing the VVPX4 package
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Hello,
I'm trying to push the VVPX4 package into VOXL without any changes but as soon I reboot the device the VIO pipeline seems to be closed as I get a '0' for both x and y coordinates of the local position. However, all the services are enabled and working (camera, qvio and vision). I have updated the voxl-suite to 0.8.1 but the positioning worked fine after that. It's when I pushed the VVPX4 package that the vio pipeline stops transferring data.
/ # voxl-inspect-services Service Name | Enabled | Running | CPU Usage --------------------------------------------------------------- docker-autorun | Disabled | Not Running | docker-daemon | Disabled | Not Running | modallink-relink | Disabled | Not Running | voxl-camera-server | Enabled | Running | 5.9 voxl-cpu-monitor | Enabled | Running | 0.0 voxl-dfs-server | Disabled | Not Running | voxl-imu-server | Enabled | Running | 1.9 voxl-mavlink-server | Enabled | Running | 1.9 voxl-modem | Disabled | Not Running | voxl-portal | Enabled | Running | 0.0 voxl-qvio-server | Enabled | Running | 7.9 voxl-streamer | Disabled | Not Running | voxl-tag-detector | Disabled | Not Running | voxl-tflite-server | Disabled | Not Running | voxl-time-sync | Disabled | Not Running | voxl-vision-px4 | Enabled | Running | 1.9 voxl-wait-for-fs | Enabled | Completed |Here is the voxl-vision-px4 config file:
{ "imu_name": "imu0", "cam_name": "tracking", "odr_hz": 30, "use_camera_height_bootstrap": true, "camera_height_off_ground_m": 0.085000000894069672, "enable_init_while_moving": true, "cam_imu_timeshift_s": -0.0020000000949949026, "cam_imu_timeshift_s_uncertainty": 0.0010000000474974513, "T_cam_wrt_imu_uncertainty": [0.00050000002374872565, 0.00050000002374872565, 0.00050000002374872565], "R_cam_to_imu_uncertainty": [0.00499999988824129, 0.00499999988824129, 0.00499999988824129], "accl_fsr_ms2": 156, "gyro_fsr_rad": 34, "accl_noise_std_dev": 0.31600001454353333, "gyro_noise_std_dev": 0.00999999977648258, "cam_noise_std_dev": 100, "min_std_pixel_noise": 0.5, "fail_high_pixel_noise_points": 1.6650999784469604, "limited_imu_bw_trigger": 35, "gps_imu_time_alignment_s": 0, "T_gps_wrt_imu": [-0.11500000208616257, 0.449999988079071, 0.10000000149011612], "enable_mapping": true, "enable_gps_vel": false } -
Hi,
Just because the process is running doesn't necessarily mean that it's functioning properly, can you check/paste the logs from
journalctl -u voxl-vision-px4and see if anything there indicates what the issue is. -
Here is the log:
-- Logs begin at Thu 1970-01-01 00:01:35 UTC, end at Thu 1970-01-01 00:03:25 UT C. -- Jan 01 00:01:37 apq8096 systemd[1]: Started voxl-vision-px4. Jan 01 00:01:38 apq8096 voxl-vision-px4[2018]: ERROR validating VIO data receiv ed through pipe: read partial packet Jan 01 00:01:38 apq8096 voxl-vision-px4[2018]: read 156 bytes, but it should be a multiple of 324 Jan 01 00:01:38 apq8096 voxl-vision-px4[2018]: ERROR validating VIO data receiv ed through pipe: read partial packet Jan 01 00:01:38 apq8096 voxl-vision-px4[2018]: read 156 bytes, but it should be a multiple of 324 Jan 01 00:01:38 apq8096 voxl-vision-px4[2018]: ERROR validating VIO data receiv ed through pipe: read partial packet Jan 01 00:01:38 apq8096 voxl-vision-px4[2018]: read 156 bytes, but it should be a multiple of 324 Jan 01 00:01:38 apq8096 voxl-vision-px4[2018]: ERROR validating VIO data receiv ed through pipe: read partial packet Jan 01 00:01:38 apq8096 voxl-vision-px4[2018]: read 156 bytes, but it should be a multiple of 324 Jan 01 00:01:38 apq8096 voxl-vision-px4[2018]: ERROR validating VIO data receiv ed through pipe: read partial packet Jan 01 00:01:38 apq8096 voxl-vision-px4[2018]: read 156 bytes, but it should be a multiple of 324
