Are "voxl-inspect-pose -f" (ie retrieval of pose data) and "voxl-inspect-qvio" (ie retrieval of qvio data) related to cpu temperature ?
-
After installing voxl platform from scratch by flashing image, I can run voxl-mapper and both
voxl-inspect-qvio
andvoxl-inspect-pose -f
produce correct outputs.voxl:~$ voxl-inspect-qvio waiting for server T_imu_wrt_vio (m) |Roll Pitch Yaw (deg)| state| error_code 0.01 -0.00 -0.01| 0.4 1.4 1.9| OKAY |
and
voxl:~$ voxl-inspect-pose -f timestamp(ms)| Position (m) | Roll Pitch Yaw (deg) | Velocity (m/s) | angular rate (deg/s) | 347449 | -0.06 -0.02 -0.02 | -0.2 14.4 1.2 | 0.00 0.00 -0.00 | 0.14 0.16 -0.19 |
Naturally, voxl-mapper also produces proper indoor map
In this case, the temperature is the following:
voxl:~$ voxl-inspect-cpu 2Name Freq (MHz) Temp (C) Util (%) 3----------------------------------- 4cpu0 960.0 50.9 38.01 5cpu1 960.0 50.9 34.56 6cpu2 1113.6 51.5 27.29 7cpu3 1248.0 51.8 22.64 8Total 51.8 30.63 910s avg 23.83 10----------------------------------- 11GPU 0.0 46.2 0.00 12GPU 10s avg 0.00 13----------------------------------- 14memory temp: 47.7 C 15memory used: 797/3770 MB 16----------------------------------- 17Flags 18CPU freq scaling mode: auto 19GPU freq scaling mode: auto 20----------------------------------- 21^C 22received SIGINT Ctrl-C 23closing
But after about half an hour, the
voxl-inspect-qvio
andvoxl-inspect-pose -f
stop working.voxl-inspect-qvio
shows some values and showsokay
status but don’t change even if drone is moved
voxl:~$ voxl-inspect-qvio waiting for server T_imu_wrt_vio (m) |Roll Pitch Yaw (deg)| state| error_code -2.65 -2.16 -0.78| -17.2 -31.0 45.7| OKAY | ^C received SIGINT Ctrl-C closing and exiting
voxl-inspect-pose -f
does not show anything
timestamp(ms)| Position (m) | Roll Pitch Yaw (deg) | Velocity (m/s) | angular rate (deg/s) |
- In this (hot) case, the temperature is the following:
Name Freq (MHz) Temp (C) Util (%) ----------------------------------- cpu0 1593.6 83.2 58.73 cpu1 1593.6 82.9 51.08 cpu2 883.2 85.2 31.87 cpu3 883.2 82.0 25.26 Total 85.2 41.73 10s avg 43.98 ----------------------------------- GPU 0.0 75.2 0.00 GPU 10s avg 0.00 ----------------------------------- memory temp: 77.8 C memory used: 998/3770 MB ----------------------------------- Flags CPU freq scaling mode: auto GPU freq scaling mode: auto ----------------------------------- ^C received SIGINT Ctrl-C closing
- After cooling the seeker for 1 hour,
voxl-inspect-qvio
shows correct outputs when drone is moved, butvoxl-inspect-pose -f
does not work.
In this (cool) case,
voxl:~$ voxl-inspect-cpu 2Name Freq (MHz) Temp (C) Util (%) 3----------------------------------- 4cpu0 960.0 41.9 37.47 5cpu1 960.0 41.3 36.29 6cpu2 729.6 45.1 29.53 7cpu3 729.6 42.2 26.59 8Total 45.1 32.47 910s avg 31.86 10----------------------------------- 11GPU 0.0 37.6 0.00 12GPU 10s avg 0.00 13----------------------------------- 14memory temp: 39.7 C 15memory used: 561/3770 MB 16----------------------------------- 17Flags 18CPU freq scaling mode: auto 19GPU freq scaling mode: auto 20----------------------------------- 21^C 22received SIGINT Ctrl-C 23closing
and
voxl-inspect-qvio
works properly when the drone is movedvoxl:~$ voxl-inspect-qvio waiting for server T_imu_wrt_vio (m) |Roll Pitch Yaw (deg)| state| error_code -0.07 -0.39 -0.02| 33.2 -39.0 -19.9| OKAY | ^C received SIGINT Ctrl-C closing and exiting voxl:~$ voxl-inspect-qvio waiting for server T_imu_wrt_vio (m) |Roll Pitch Yaw (deg)| state| error_code -0.16 -0.54 -0.28| 110.8 7.6 -55.4| OKAY | ^C received SIGINT Ctrl-C closing and exiting voxl:~$ voxl-inspect-qvio waiting for server T_imu_wrt_vio (m) |Roll Pitch Yaw (deg)| state| error_code 0.39 -0.50 0.03| 69.5 -20.3 97.2| OKAY | ^C received SIGINT Ctrl-C closing and exiting
But,
voxl-inspect-pose -f
does not show anythingtimestamp(ms)| Position (m) | Roll Pitch Yaw (deg) | Velocity (m/s) | angular rate (deg/s) | 2 3
voxl-inspect-pose -f
start working only when image is flashed and voxl platform and packages includingvoxl-mapper
are installed from scratch.If temperature was the issue, would not
voxl-inspect-pose -f
start working, after the seeker has been cooled?
Could you let me know why such problem is occuring? -
In flight you should not have any thermal issues. On the bench please use a fan to cool the device
The OS kills processes when the chip gets too hot. Rebooting should bring it all back