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    X and Y coordinates zero after pushing the VVPX4 package

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    • ICI
      IC
      last edited by

      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
      }
      
      
      1 Reply Last reply Reply Quote 0
      • ?
        A Former User
        last edited by

        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-px4 and see if anything there indicates what the issue is.

        1 Reply Last reply Reply Quote 0
        • ICI
          IC
          last edited by

          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
          
          
          1 Reply Last reply Reply Quote 0
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