Are "voxl-inspect-pose -f" (ie retrieval of pose data) and "voxl-inspect-qvio" (ie retrieval of qvio data) related to cpu temperature ?

[ahmed-mustahid]

After installing voxl platform from scratch by flashing image, I can run voxl-mapper and both voxl-inspect-qvio and voxl-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 and voxl-inspect-pose -f stop working.

1. voxl-inspect-qvio shows some values and shows okay 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

2. voxl-inspect-pose -f does not show anything

timestamp(ms)|     Position (m)     | Roll Pitch Yaw (deg) |    Velocity (m/s)    | angular rate (deg/s) |

3. 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

4. After cooling the seeker for 1 hour, voxl-inspect-qvio shows correct outputs when drone is moved, but voxl-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 moved

voxl:~$ 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 anything

timestamp(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 including voxl-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?

[Chad Sweet]

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