x&y values zero in odometry

howard

Hi,
I am trying use VIO to fly my drone outdoors without gps, I am using voxl cam and have connected Pixhawk cube externally. I have followed all the steps, but in Mavlink inspector I am getting x&y odometry values as zero ,whereas it shows z value.What am I missing out? Can someone help please.

Adrian Hidalgo

Seems like VIO hasn't started up, that's why x & y are zeroed out.

Try:

voxl-reset-qvio

Check to see if x & y have returned if not

Another method to try is this:

systemctl restart voxl-qvio-server

Adrian Hidalgo

For a more in-depth explanation on qvio check our docs

Cliff Wong

Also after resetting vio-server, you can run voxl-inspect-qvio to monitor valid localization information. If that is good, it's very likely (since you're getting z telemetry) you need to activate external vision solution in px4:
https://docs.modalai.com/flying-with-vio/

Look at the ekf2_aid_mask and substitute any flight core reference for the cube. Likely your aid mask is 1, which is gps and px4 will not report odometry mav data (z is fusing baro+vision and why you get z and no xy).

howard

@Cliff-Wong Hey, thank you for the reply,will try the above mentioned, but when I try voxl-inspect-qvio I get correct output,even voxl-inspect-services shows that all the required seevices are running.Could there be any other problem?
Thank you

Cliff Wong

Good to hear voxl services are ok, that leads to PX4's ekf2_aid_mask. It should be 280, aka all the external vision inputs are on. Then you should see xy odom in QGC's mavlink inspector.

howard

This post is deleted!

howard

hey!
I just used version 1.12.3 of PX4-autopilot stable release and everything is working fine now.
I hope there are no bugs related to VIO in this version.
Thank you

DarkKnightCH

@Adrian-Hidalgo Hi, do you know why when VIO hasn't started up, then x&y are zeroed out but z still has values?

Recently I am trying to use the Motion Capture(Mocap) to provide pose information to EKF2 instead of VIO pose. Therefore, I run the vrpn_client_ros and mavros to get the Mocap data and meanwhile I disabled the VIO by setting "en_vio=false". Then the EKF2 will diverge and after about 50 seconds, x & y are zeroed out but z still has values.

https://forum.modalai.com/topic/919/using-motion-capture-systems-optitrack-for-position-estimation?_=1656684369036

Adrian Hidalgo

@DarkKnightCH I believe Cliff answered that but in case it was missed: "z is fusing baro+vision and why you get z and no xy"