# MAVLink Odometry X Y value 0 Source: https://forum.modalai.com/topic/1272/mavlink-odometry-x-y-value-0 Category: General Questions (https://forum.modalai.com/category/2/general-questions) Posted: 2022-08-31 15:09:28 UTC by Kris Replies: 72 · Views: 38232 ## Kris · 2022-08-31 15:09:28 UTC I am not able to get any X/Y values in my MAVLink Odometry or in my LOCAL_POSITION_NED. I have done research into this issue, but could not find a solution for my setup. Could someone please point out my problem? ``` voxl:~$ voxl-version -------------------------------------------------------------------------------- system-image: 3.8.0 kernel: #1 SMP PREEMPT Tue Apr 26 18:08:39 UTC 2022 3.18.71-perf -------------------------------------------------------------------------------- hw version: VOXL -------------------------------------------------------------------------------- voxl-suite: 0.8.1 0.7.0 -------------------------------------------------------------------------------- ``` ``` Service Name | Version | Enabled | Running | CPU Usage ------------------------------------------------------------------------------- docker-autorun | 1.2.4 | Disabled | Not Running | docker-daemon | 1.2.4 | Disabled | Not Running | modallink-relink | 0.15.1 | Disabled | Not Running | voxl-camera-server | 0.9.1 | Enabled | Running | 16.6 voxl-cpu-monitor | 0.2.5 | Enabled | Running | 0.0 voxl-dfs-server | 0.2.6 | Enabled | Running | 8.3 voxl-imu-server | 1.0.1 | Enabled | Running | 2.0 voxl-mavlink-server | 0.1.3 | Enabled | Running | 0.0 voxl-modem | 0.15.1 | Disabled | Not Running | voxl-portal | 0.2.6 | Enabled | Running | 0.0 voxl-qvio-server | 0.4.6 | Enabled | Running | 8.3 voxl-rangefinder-server | 0.1.2 | Disabled | Not Running | voxl-streamer | 0.3.6 | Disabled | Not Running | voxl-tag-detector | 0.0.4 | Disabled | Not Running | voxl-tflite-server | 0.2.3 | Disabled | Not Running | voxl-time-sync | 1.1.4 | Enabled | Completed | voxl-vision-px4 | 1.2.0 | Enabled | Running | 2.0 voxl-wait-for-fs | 1.1.4 | Enabled | Completed | ``` ``` voxl:~$ opkg list-installed | grep "voxl" libvoxl-cutils - 0.1.1 voxl-camera-calibration - 0.2.2 voxl-ceres-solver - 1.14.0-7 voxl-cpu-monitor - 0.2.5 voxl-docker-support - 1.2.4 voxl-gphoto2-server - 0.0.10 voxl-jpeg-turbo - 2.1.3-4 voxl-libgphoto2 - 0.0.4 voxl-libuvc - 1.0.6 voxl-logger - 0.1.2 voxl-mapper - 0.0.7 voxl-mavlink - 0.1.0 voxl-mavlink-server - 0.1.3 voxl-modem - 0.15.1 voxl-mongoose - 7.6.0 voxl-mpa-to-ros - 0.3.2 voxl-mpa-tools - 0.6.3 voxl-nlopt - 2.5.0-4 voxl-opencv - 4.5.5-1 voxl-portal - 0.2.6 voxl-qvio-server - 0.4.6 voxl-streamer - 0.3.6 voxl-suite - 0.7.0 voxl-tag-detector - 0.0.4 voxl-tflite-server - 0.2.3 voxl-utils - 1.1.4 voxl-uvc-server - 0.1.1 voxl-vision-px4 - 1.2.0 voxl-voxblox - 1.0.4 voxl-vpn - 0.0.6 ``` ``` voxl:~$ opkg list-installed | grep "modal" libmodal-cv - 0.1.0 libmodal-exposure - 0.0.7 libmodal-json - 0.4.2 libmodal-pipe - 2.4.0 ``` ``` "config_file_version": 1, "qgc_ip": "192.168.110.146", "en_secondary_qgc": false, "secondary_qgc_ip": "192.168.1.214", "qgc_udp_port_number": 14550, "udp_mtu": 512, "en_localhost_mavlink_udp": true, "localhost_udp_port_number": 14551, "en_vio": true, "en_voa": true, "en_send_vio_to_qgc": true, "en_send_voa_to_qgc": true, "voa_upper_bound_m": -0.15000000596046448, "voa_lower_bound_m": 0.15000000596046448, "en_set_clock_from_gps": true, "en_force_onboard_mav1_mode": true, "en_reset_px4_on_error": true, "horizon_cal_tolerance": 0.300000011920929, "offboard_mode": "trajectory", "follow_tag_id": 0, "figure_eight_move_home": true, "en_tag_fixed_frame": false, "fixed_frame_filter_len": 5, "en_transform_mavlink_pos_setpoints_from_fixed_frame": false, "vio_pipe": "qvio", "en_reset_vio_if_initialized_inverted": true, "vio_warmup_s": 3, "voa_memory_s": 1, "voa_inputs": [{ "enabled": true, "type": "point_cloud", "input_pipe": "dfs_point_cloud", "frame": "stereo_l" }, { "enabled": true, "type": "point_cloud", "input_pipe": "stereo_front_pc", "frame": "stereo_front_l" }, { "enabled": true, "type": "point_cloud", "input_pipe": "stereo_rear_pc", "frame": "stereo_rear_l" }, { "enabled": true, "type": "tof", "input_pipe": "tof", "frame": "tof" }, { "enabled": true, "type": "rangefinder", "input_pipe": "rangefinders", "frame": "body" ``` ``` voxl:~$ voxl-inspect-extrinsics #0: parent: imu0 child: tracking T_child_wrt_parent: 0.014 0.005 0.005 RPY_parent_to_child: -45.0 0.0 0.0 R_child_to_parent: 1.000 -0.000 0.000 0.000 0.707 0.707 -0.000 -0.707 0.707 #1: parent: imu1 child: tracking T_child_wrt_parent: -0.034 0.030 0.005 RPY_parent_to_child: -45.0 0.0 0.0 R_child_to_parent: 1.000 -0.000 0.000 0.000 0.707 0.707 -0.000 -0.707 0.707 #2: parent: body child: imu0 T_child_wrt_parent: 0.050 -0.015 0.016 RPY_parent_to_child: 0.0 90.0 90.0 R_child_to_parent: 0.000 -0.000 1.000 1.000 0.000 -0.000 -0.000 1.000 0.000 #3: parent: body child: imu1 T_child_wrt_parent: 0.046 0.033 -0.013 RPY_parent_to_child: 0.0 90.0 90.0 R_child_to_parent: 0.000 -0.000 1.000 1.000 0.000 -0.000 -0.000 1.000 0.000 #4: parent: body child: stereo_l T_child_wrt_parent: 0.055 -0.040 0.000 RPY_parent_to_child: 0.0 90.0 90.0 R_child_to_parent: 0.000 -0.000 1.000 1.000 0.000 -0.000 -0.000 1.000 0.000 #5: parent: body child: ground T_child_wrt_parent: 0.000 0.000 0.045 RPY_parent_to_child: 0.0 0.0 0.0 R_child_to_parent: 1.000 -0.000 0.000 0.000 1.000 -0.000 0.000 0.000 1.000 #6: parent: imu1 child: imu0 T_child_wrt_parent: -0.048 0.037 0.002 RPY_parent_to_child: 0.0 0.0 0.0 R_child_to_parent: 1.000 -0.000 0.000 0.000 1.000 -0.000 0.000 0.000 1.000 #7: parent: body child: tof T_child_wrt_parent: 0.055 0.000 0.000 RPY_parent_to_child: 0.0 90.0 -90.0 R_child_to_parent: 0.000 0.000 1.000 -1.000 0.000 -0.000 -0.000 -1.000 0.000 ``` ![QGC-Summary-ModalAI-r.png](https://forum.modalai.com/assets/uploads/files/1661958633156-qgc-summary-modalai-r.png) ![QGC-Odometry-r.png](https://forum.modalai.com/assets/uploads/files/1661958735610-qgc-odometry-r.png) ![MAVLink-Parameters-r.png](https://forum.modalai.com/assets/uploads/files/1661958759494-mavlink-parameters-r.png) ![EKF2_AID_MASK-r.png](https://forum.modalai.com/assets/uploads/files/1661959159559-ekf2_aid_mask-r.png) ## Reply by Kris · 2022-08-31 23:53:36 UTC There is no position control for indoor flights. COM_OBS_AVOID ![COM_OBS_AVOID.png](https://forum.modalai.com/assets/uploads/files/1661989966716-com_obs_avoid.png) CP_DIST ![CP_DIST.png](https://forum.modalai.com/assets/uploads/files/1661989996198-cp_dist.png) I am having trouble figuring this one out. ## Reply by Kris · 2022-09-01 00:00:36 UTC Here are my GCS Serial parameters. ![GCS Serial.png](https://forum.modalai.com/assets/uploads/files/1661990432213-gcs-serial.png) ## Reply by Kris · 2022-09-01 00:46:03 UTC I am currently on the PX4 ModalAi build Firmware, but I was also getting the Reject Position Control error and 0 values for X & Y in MAVLink Odometry in QCS for the PX4 Mainline build Firmware. ## Reply by Kris · 2022-09-01 01:50:00 UTC I have also tried doing the following; ``` voxl:~$ voxl-reset-qvio Sending hard reset command to voxl-qvio-server success ``` & ``` voxl:~$ systemctl restart voxl-qvio-server ``` After executing these commands, the X & Y values did not change from 0. ## Reply by Kris · 2022-09-01 02:09:39 UTC Here are my voxl-vision-px4 -o readouts; There are definitely errors in the VIO data through the pipe, I just don't know how to fix it. If anyone has any ideas to fix this issue, I'm all ears :ear: ``` voxl:~$ voxl-vision-px4 -o loading our own config file ================================================================= Parameters as loaded from config file: config_file_version: 1 MAVLINK IO qgc_ip: 192.168.110.146 en_secondary_qgc: 0 secondary_qgc_ip: 192.168.1.214 qgc_udp_port_number: 14550 udp_mtu: 512 en_localhost_mavlink_udp 1 localhost_udp_port_number: 14551 VIO en_vio: 1 vio_pipe: qvio en_send_vio_to_qgc: 1 en_reset_vio_if_initialized_inverted: 1 vio_warmup_s: 4.000000 APQ8096-ONLY FEATURES en_set_clock_from_gps: 1 en_force_onboard_mav1_mode: 1 en_reset_px4_on_error: 1 MISC FEATURES horizon_cal_tolerance: 0.300000 OFFBOARD MODE offboard_mode: trajectory follow_tag_id: 0 figure_eight_move_home: 1 FIXED FRAME RELOCALIZATION en_tag_fixed_frame: 0 fixed_frame_filter_len: 5 en_transform_mavlink_pos_setpoints_from_fixed_frame:0 COLLISION PREVENTION (VOA) en_voa: 1 en_send_voa_to_qgc: 1 voa_upper_bound_m: -0.150000 voa_lower_bound_m: 0.150000 voa_memory_s: 1.000000 voa_input #0 enabled: 1 type: point_cloud input_pipe: dfs_point_cloud frame: stereo_l voa_input #1 enabled: 1 type: point_cloud input_pipe: stereo_front_pc frame: stereo_front_l voa_input #2 enabled: 1 type: point_cloud input_pipe: stereo_rear_pc frame: stereo_rear_l voa_input #3 enabled: 1 type: tof input_pipe: tof frame: tof voa_input #4 enabled: 1 type: rangefinder input_pipe: rangefinders frame: body ================================================================= loading extrinsics config file starting geometry module starting px4 monitor starting px4 mavlink Connected to voxl-mavlink-server Detected PX4 Mavlink SYSID 1 starting udp mavlink Adding manual QGC IP address to udp connection list: 192.168.110.146 Added new UDP connection to 192.168.110.146 starting px4 shell starting fixed pose input starting vio manager Connected to VIO pipe: qvio updating to use imu: imu1 done updating transforms to use imu: imu1 detected system time has already been set starting tag manager starting voa manager ERROR validating VIO data received through pipe: read partial packet read 156 bytes, but it should be a multiple of 324 Connected to pipe: dfs_point_cloud starting horizon cal Connected to pipe: tof starting offboard trajectory Init complete, entering main loop ERROR validating VIO data received through pipe: read partial packet read 156 bytes, but it should be a multiple of 324 ERROR validating VIO data received through pipe: read partial packet read 156 bytes, but it should be a multiple of 324 ERROR validating VIO data received through pipe: read partial packet read 156 bytes, but it should be a multiple of 324 ERROR validating VIO data received through pipe: read partial packet read 156 bytes, but it should be a multiple of 324 ERROR validating VIO data received through pipe: read partial packet read 156 bytes, but it should be a multiple of 324 ERROR validating VIO data received through pipe: read partial packet read 156 bytes, but it should be a multiple of 324 ERROR validating VIO data received through pipe: read partial packet read 156 bytes, but it should be a multiple of 324 ERROR validating VIO data received through pipe: read partial packet read 156 bytes, but it should be a multiple of 324 ERROR validating VIO data received through pipe: read partial packet read 156 bytes, but it should be a multiple of 324 ERROR validating VIO data received through pipe: read partial packet read 156 bytes, but it should be a multiple of 324 ERROR validating VIO data received through pipe: read partial packet read 156 bytes, but it should be a multiple of 324 ERROR validating VIO data received through pipe: read partial packet read 156 bytes, but it should be a multiple of 324 ERROR validating VIO data received through pipe: read partial packet read 156 bytes, but it should be a multiple of 324 ERROR validating VIO data received through pipe: read partial packet read 156 bytes, but it should be a multiple of 324 ERROR validating VIO data received through pipe: read partial packet read 156 bytes, but it should be a multiple of 324 ERROR validating VIO data received through pipe: read partial packet read 156 bytes, but it should be a multiple of 324 ERROR validating VIO data received through pipe: read partial packet read 156 bytes, but it should be a multiple of 324 ERROR validating VIO data received through pipe: read partial packet read 156 bytes, but it should be a multiple of 324 ERROR validating VIO data received through pipe: read partial packet read 156 bytes, but it should be a multiple of 324 ERROR validating VIO data received through pipe: read partial packet read 156 bytes, but it should be a multiple of 324 ERROR validating VIO data received through pipe: read partial packet read 156 bytes, but it should be a multiple of 324 ERROR validating VIO data received through pipe: read partial packet read 156 bytes, but it should be a multiple of 324 ERROR validating VIO data received through pipe: read partial packet read 156 bytes, but it should be a multiple of 324 ^C received SIGINT Ctrl-C Starting shutdown sequence stopping offboard trajectory exiting offboard trajectory thread stopping horizon_cal stopping voa manager ERROR validating VIO data received through pipe: read partial packet read 156 bytes, but it should be a multiple of 324 exiting VOA thread stopping tag manager stopping vio manager stopping fixed pose in module stopping px4 shell module Stopping udp mavlink module exiting localhost udp listener thread exiting QGC udp listener thread udp_mavlink stopped Stopping uart mavlink module waiting for px4 mavlink timer thread to join Stopping px4 monitor closing remaining client pipes closing remaining server pipes Removing PID file exiting voxl:~$ ``` ## Reply by Kris · 2022-09-01 14:54:38 UTC Could this issue be coming from imu0 and imu1? ## Reply by Kris · 2022-09-01 15:16:21 UTC Has anyone had this error message on their system? ``` ERROR validating VIO data received through pipe: read partial packet read 156 bytes, but it should be a multiple of 324 ``` If so, how was it resolved? Here is my debug odometry; ``` voxl:~$ voxl-vision-px4 --debug_odometry loading our own config file ================================================================= Parameters as loaded from config file: config_file_version: 1 MAVLINK IO qgc_ip: 192.168.110.146 en_secondary_qgc: 0 secondary_qgc_ip: 192.168.1.214 qgc_udp_port_number: 14550 udp_mtu: 512 en_localhost_mavlink_udp 1 localhost_udp_port_number: 14551 VIO en_vio: 1 vio_pipe: qvio en_send_vio_to_qgc: 1 en_reset_vio_if_initialized_inverted: 1 vio_warmup_s: 3.000000 APQ8096-ONLY FEATURES en_set_clock_from_gps: 1 en_force_onboard_mav1_mode: 1 en_reset_px4_on_error: 1 MISC FEATURES horizon_cal_tolerance: 0.450000 OFFBOARD MODE offboard_mode: trajectory follow_tag_id: 0 figure_eight_move_home: 1 FIXED FRAME RELOCALIZATION en_tag_fixed_frame: 0 fixed_frame_filter_len: 5 en_transform_mavlink_pos_setpoints_from_fixed_frame:0 COLLISION PREVENTION (VOA) en_voa: 1 en_send_voa_to_qgc: 1 voa_upper_bound_m: -0.150000 voa_lower_bound_m: 0.150000 voa_memory_s: 1.000000 voa_input #0 enabled: 1 type: point_cloud input_pipe: dfs_point_cloud frame: stereo_l voa_input #1 enabled: 1 type: point_cloud input_pipe: stereo_front_pc frame: stereo_front_l voa_input #2 enabled: 1 type: point_cloud input_pipe: stereo_rear_pc frame: stereo_rear_l voa_input #3 enabled: 1 type: tof input_pipe: tof frame: tof voa_input #4 enabled: 1 type: rangefinder input_pipe: rangefinders frame: body ================================================================= loading extrinsics config file exising instance of voxl-vision-px4 found, attempting to stop it starting geometry module starting px4 monitor starting px4 mavlink Connected to voxl-mavlink-server Detected PX4 Mavlink SYSID 1 starting udp mavlink Adding manual QGC IP address to udp connection list: 192.168.110.146 Added new UDP connection to 192.168.110.146 starting px4 shell starting fixed pose input starting vio manager Connected to VIO pipe: qvio updating to use imu: imu1 done updating transforms to use imu: imu1 ERROR validating VIO data received through pipe: read partial packet read 156 bytes, but it should be a multiple of 324 starting tag manager starting voa manager Connected to pipe: dfs_point_cloud Connected to pipe: tof starting horizon cal starting offboard trajectory Init complete, entering main loop ERROR validating VIO data received through pipe: read partial packet read 156 bytes, but it should be a multiple of 324 ERROR validating VIO data received through pipe: read partial packet read 156 bytes, but it should be a multiple of 324 ERROR validating VIO data received through pipe: read partial packet read 156 bytes, but it should be a multiple of 324 ERROR validating VIO data received through pipe: read partial packet read 156 bytes, but it should be a multiple of 324 ERROR validating VIO data received through pipe: read partial packet read 156 bytes, but it should be a multiple of 324 ERROR validating VIO data received through pipe: read partial packet read 156 bytes, but it should be a multiple of 324 detected system time has already been set ERROR validating VIO data received through pipe: read partial packet read 156 bytes, but it should be a multiple of 324 WARNING in VOA manager, no attitude data from px4 ERROR validating VIO data received through pipe: read partial packet read 156 bytes, but it should be a multiple of 324 ERROR validating VIO data received through pipe: read partial packet read 156 bytes, but it should be a multiple of 324 ERROR validating VIO data received through pipe: read partial packet read 156 bytes, but it should be a multiple of 324 ERROR validating VIO data received through pipe: read partial packet read 156 bytes, but it should be a multiple of 324 ERROR validating VIO data received through pipe: read partial packet read 156 bytes, but it should be a multiple of 324 ERROR validating VIO data received through pipe: read partial packet read 156 bytes, but it should be a multiple of 324 ERROR validating VIO data received through pipe: read partial packet read 156 bytes, but it should be a multiple of 324 ERROR validating VIO data received through pipe: read partial packet read 156 bytes, but it should be a multiple of 324 ERROR validating VIO data received through pipe: read partial packet read 156 bytes, but it should be a multiple of 324 ERROR validating VIO data received through pipe: read partial packet read 156 bytes, but it should be a multiple of 324 ERROR validating VIO data received through pipe: read partial packet read 156 bytes, but it should be a multiple of 324 ERROR validating VIO data received through pipe: read partial packet read 156 bytes, but it should be a multiple of 324 ERROR validating VIO data received through pipe: read partial packet ``` There is also one VOA manager WARNING in my odometry debug, with no attitude data from px4.... ``` WARNING in VOA manager, no attitude data from px4 ``` :confounded: ## Reply by Chad Sweet (ModalAI staff) · 2022-09-01 15:45:18 UTC From the [Troubleshooting VIO docs](https://docs.modalai.com/flying-with-vio/#troubleshooting-vio), can you try these steps? QVIO Overlay in [voxl-portal](https://docs.modalai.com/voxl-portal/) [voxl-inspect-qvio](https://docs.modalai.com/voxl-inspect-qvio/) ## Reply by Kris · 2022-09-01 15:52:00 UTC (in reply to Chad Sweet) @Chad-Sweet Yes, I have read through those steps and tried them. All of my cameras are viewable in voxl-portal. I have also ran the voxl-inspect-qvio and the status was ok with no error's. ## Reply by Chad Sweet (ModalAI staff) · 2022-09-01 15:55:01 UTC Can you please share the output of those steps? ## Reply by Kris · 2022-09-01 15:55:41 UTC (in reply to Chad Sweet) @Chad-Sweet ``` voxl:~$ voxl-inspect-qvio waiting for server T_imu_wrt_vio (m) |Roll Pitch Yaw (deg)| state| error_code -0.00 0.00 0.00| -0.0 0.0 -0.0| OKAY | ^C received SIGINT Ctrl-C closing and exiting ``` ## Reply by Kris · 2022-09-01 15:57:51 UTC (in reply to Chad Sweet) @Chad-Sweet What would you like to see in my voxl portal? ## Reply by Kris · 2022-09-01 16:01:15 UTC Here I have turned the drone about an inch to the left. ``` voxl:~$ voxl-inspect-qvio waiting for server T_imu_wrt_vio (m) |Roll Pitch Yaw (deg)| state| error_code -0.02 0.00 0.03| 0.3 -10.3 1.7| OKAY | ^C received SIGINT Ctrl-C closing and exiting ``` ## Reply by Chad Sweet (ModalAI staff) · 2022-09-01 16:11:02 UTC The qvio-overlay in voxl-portal is interesting, but from the voxl-inspect-qvio it looks like VIO is working properly. It's mostly likely PX4 is rejecting position mode, usually because it requires a magnetometer. [This section](https://docs.modalai.com/flying-with-vio/#position-mode-rejected) covers position mode rejected issues Do you have a magnetometer connected? If not, are you sure PX4 is not expecting one? ## Reply by Kris · 2022-09-01 16:16:12 UTC (in reply to Chad Sweet) @Chad-Sweet I haven't added anything special to my Seeker setup. ## Reply by Kris · 2022-09-01 16:26:03 UTC (in reply to Chad Sweet) @Chad-Sweet SYS_HAS_MAG ![SYS_HAS_MAG.png](https://forum.modalai.com/assets/uploads/files/1662049453399-sys_has_mag.png) EKF2_MAG_TYPE ![EKF2_MAG_TYPE.png](https://forum.modalai.com/assets/uploads/files/1662049489916-ekf2_mag_type.png) So, I should enter the 0 value for SYS_HAS_MAG and 5 for the EKF2_MAG_TYPE? ## Reply by Chad Sweet (ModalAI staff) · 2022-09-01 16:31:23 UTC If you are using PX4 1.12 or later, and do not have a magnetometer, and want to use VIO, yes. ## Reply by Kris · 2022-09-01 16:32:39 UTC (in reply to Chad Sweet) @Chad-Sweet OK 👍 I’ll try that 😊 ## Reply by Kris · 2022-09-01 16:35:15 UTC (in reply to Chad Sweet) @Chad-Sweet There is not an option for 5 in EKF2_MAG_TYPE. Should I leave this at “Automatic” or select “None” ? ## Reply by Kris · 2022-09-01 17:00:51 UTC (in reply to Chad Sweet) @Chad-Sweet I selected "None" for the EKF2_MAG_TYPE and entered "0" for the SYS_HAS_MAG. The Odometry x y values are still at 0. Do I need to change anything in my voxl-vision-px4.conf files now that I am not using a GPS? ``` "config_file_version": 1, "qgc_ip": "192.168.110.146", "en_secondary_qgc": false, "secondary_qgc_ip": "192.168.1.214", "qgc_udp_port_number": 14550, "udp_mtu": 512, "en_localhost_mavlink_udp": true, "localhost_udp_port_number": 14551, "vio_pipe": "qvio", "en_vio": true, "en_send_vio_to_qgc": true, "en_reset_vio_if_initialized_inverted": true, "vio_warmup_s": 3, "en_set_clock_from_gps": true, "en_force_onboard_mav1_mode": true, "en_reset_px4_on_error": true, "horizon_cal_tolerance": 0.449999988079071, "offboard_mode": "trajectory", "follow_tag_id": 0, "figure_eight_move_home": true, "en_tag_fixed_frame": false, "fixed_frame_filter_len": 5, "en_transform_mavlink_pos_setpoints_from_fixed_frame": false, "en_voa": true, "en_send_voa_to_qgc": true, "voa_upper_bound_m": -0.15000000596046448, "voa_lower_bound_m": 0.15000000596046448, "voa_memory_s": 1, "voa_inputs": [{ "enabled": true, "type": "point_cloud", "input_pipe": "dfs_point_cloud", "frame": "stereo_l" }, { "enabled": true, "type": "point_cloud", "input_pipe": "stereo_front_pc", "frame": "stereo_front_l" }, { "enabled": true, "type": "point_cloud", "input_pipe": "stereo_rear_pc", "frame": "stereo_rear_l" }, { "enabled": true, "type": "tof", "input_pipe": "tof", "frame": "tof" }, { "enabled": true, "type": "rangefinder", "input_pipe": "rangefinders", "frame": "body" }] } ``` Should I just unplug the Cirocomm GPS? ## Reply by Kris · 2022-09-01 17:23:21 UTC I unplugged the GPS from the Seeker. I am still not able to get position control in MAVLink and my Odometry x y values are still at 0. Maybe the last option to do is to re-calibrate my cameras... ## Reply by Chad Sweet (ModalAI staff) · 2022-09-01 17:25:21 UTC If voxl-inspect-qvio shows functioning VIO data, there is no need to calibrate cameras. VIO is working. PX4 is most likely misconfigured. If you have a GPS, then you likely have a magnetometer? Seeker should have arrived pre-configured for VIO flight. No need to change anything. VIO is flight tested for 20 minutes before being shipped. ## Reply by Kris · 2022-09-01 17:27:39 UTC (in reply to Chad Sweet) @Chad-Sweet ![Multi-View-r.png](https://forum.modalai.com/assets/uploads/files/1662053257706-multi-view-r-resized.png) ## Reply by Kris · 2022-09-01 17:33:33 UTC (in reply to Chad Sweet) @Chad-Sweet Yes, I have this GPS/Magnetometer that is on the back of the Seeker above the battery compartment. ![Seeker.png](https://forum.modalai.com/assets/uploads/files/1662053458737-seeker.png) If my PX4 is possibly misconfigured, should I just remove PX4 and start clean? Or, is there something you might know that could be causing the problem in PX4? ## Reply by Chad Sweet (ModalAI staff) · 2022-09-01 17:41:59 UTC [Here](https://gitlab.com/voxl-public/flight-core-px4/px4-parameters/-/blob/master/platforms/v1.11/Seeker_v1_param_rev_A.params) are the default Seeker parameters for PX4 1.11 [Here](https://gitlab.com/voxl-public/flight-core-px4/px4-parameters/-/blob/master/helpers/seeker/ekf2_indoor_vio.params) are the helper parameters for Seeker indoor VIO flight ## Reply by Kris · 2022-09-01 17:44:56 UTC (in reply to Chad Sweet) @Chad-Sweet Thank you 🙏 I will load these into PX4 and test it. ## Reply by Adrian Hidalgo (ModalAI staff) · 2022-09-01 17:48:11 UTC @Kris Can you post a pic of QGC under MavLink Inspector, go to the tab that says Local_Position_Ned and see what the X, Y, Z show. I want to verify how those numbers are numerating. Normally if the X & Y are zeroed out, VIO hasn't started yet or has blown up. A power-cycle can fix this, but I would think you've already attempted that. Looks like you've already attempted resetting voxl-vision-px4 & qvio. You may want to try reconfiguring mpa: ``` voxl-configure-mpa -p -f seeker -b blue -c 7 --fc yes ``` Power-cycle afterwards. You'll have to set your qgc-ip again since mpa will reset it to factory. ## Reply by Kris · 2022-09-01 17:58:07 UTC (in reply to Adrian Hidalgo) @Adrian-Hidalgo Ok, I will try that now. My position is still being rejected after resetting PX4 and loading the new paremeter files. ![NED.png](https://forum.modalai.com/assets/uploads/files/1662055085544-ned.png) ## Reply by Kris · 2022-09-01 18:00:12 UTC (in reply to Adrian Hidalgo) @Adrian-Hidalgo I have actually reconfigured mpa before, but I will try it again after I have loaded these new PX4 parameters. ## Reply by Kris · 2022-09-01 18:13:15 UTC (in reply to Adrian Hidalgo) @Adrian-Hidalgo Unfortunatly that didnt work either :cry: ![NED2.png](https://forum.modalai.com/assets/uploads/files/1662055992478-ned2.png) ## Reply by Kris · 2022-09-01 19:10:36 UTC (in reply to Adrian Hidalgo) @Adrian-Hidalgo @Chad-Sweet , Is there anything else you would like to look at on my end or something else I can try to resolve this issue? ## Reply by Adrian Hidalgo (ModalAI staff) · 2022-09-01 19:30:11 UTC @Kris what version of PX4 are you using? This [forum](https://forum.modalai.com/topic/1064/x-y-values-zero-in-odometry/6?_=1659716633917) may have similar issues and it was resolved by updating PX4 ## Reply by Kris · 2022-09-01 19:33:35 UTC (in reply to Adrian Hidalgo) @Adrian-Hidalgo I honestly don't remember which one I installed. Could you please remind me how to check for the version? ## Reply by Adrian Hidalgo (ModalAI staff) · 2022-09-01 19:36:32 UTC @Kris select the Q, should say in the menu selection below application settings ## Reply by Adrian Hidalgo (ModalAI staff) · 2022-09-01 19:38:27 UTC @Kris you could try loading a previous sys-image & sdk. Did it work before updating? ## Reply by Kris · 2022-09-01 19:39:28 UTC (in reply to Adrian Hidalgo) @Adrian-Hidalgo I have not had it for very long. I have not gotten it to work before. ## Reply by Adrian Hidalgo (ModalAI staff) · 2022-09-01 19:47:53 UTC @Kris all Seekers get test flown before shipping to validate functionality. They are loaded with VOXL Platform 3.3.0-0.5.0, test flown with px4 platform 1.11 seeker & helper files for seeker ekf_2_indoor & spektrum_dx6e_config. You can try loading the platform 1.12 seeker to see if that helps ## Reply by Kris · 2022-09-01 19:48:08 UTC (in reply to Adrian Hidalgo) @Adrian-Hidalgo I dont see where the version is listed. Also, this message keeps popping up everytime I open QGC, about a newer version. ![PX4-v.png](https://forum.modalai.com/assets/uploads/files/1662061627261-px4-v.png) ## Reply by Adrian Hidalgo (ModalAI staff) · 2022-09-01 19:48:42 UTC (in reply to Kris) @Kris in the page, scroll to the bottom ## Reply by Adrian Hidalgo (ModalAI staff) · 2022-09-01 19:50:00 UTC (in reply to Kris) @Kris wouldn't hurt to update QGC with the latest ## Reply by Kris · 2022-09-01 19:50:53 UTC (in reply to Adrian Hidalgo) @Adrian-Hidalgo Oh, ok sorry. ![versionQGC.png](https://forum.modalai.com/assets/uploads/files/1662061850262-versionqgc.png) ## Reply by Adrian Hidalgo (ModalAI staff) · 2022-09-01 19:56:35 UTC (in reply to Kris) @Kris yeah, that's an older version of QGC. Would recommend updating, could be a mismatch of settings. After updating, check again local_position_ned If that doesn't work, try loading platform 1.12 seeker parameters If that doesn't work, try I'd shift to system_image 3.3.0 to see if that would change it. Be sure to save the data partition when asks to wipe. ## Reply by Kris · 2022-09-01 19:58:29 UTC (in reply to Adrian Hidalgo) @Adrian-Hidalgo Ok, I will try that. Thank you so much for helping me with this. I will post back here with the results. ## Reply by Kris · 2022-09-01 22:18:18 UTC (in reply to Adrian Hidalgo) @Adrian-Hidalgo Sorry to bother you. When I started the new version of PX4 v4.2.3 it was ok. Then I started the Seeker and tons of errors started to happen. ``` [D] at ../../qgroundcontrol/qgroundcontrol/src/QGCApplication.cc:281 - "Settings location "/home/kris/.config/QGroundControl.org/QGroundControl.ini" Is writable?: true" [D] at ../../qgroundcontrol/qgroundcontrol/src/QGCLoggingCategory.cc:120 - "Filter rules "*Log.debug=false\nGStreamerAPILog.debug=true\nqt.qml.connections=false"" [D] at ../../qgroundcontrol/qgroundcontrol/src/QGCApplication.cc:384 - "System reported locale: QLocale(English, Latin, United States) ; Name "en_US" ; Preffered (used in maps): "en-US"" [D] at ../../qgroundcontrol/qgroundcontrol/src/Vehicle/MAVLinkLogManager.cc:360 - "MAVLink logs directory: "/home/kris/Documents/QGroundControl/Logs"" [D] at ../../qgroundcontrol/qgroundcontrol/src/QtLocationPlugin/QGCMapEngine.cpp:164 - "Map Cache in: "/home/kris/.cache/QGCMapCache300" / "qgcMapCache.db"" [D] at qrc:/qml/MainRootWindow.qml:51 - "QGCCorePlugin(0x55bb212c6fa0) []" [D] at ../../qgroundcontrol/qgroundcontrol/src/MissionManager/MissionController.cc:2371 - "setCurrentPlanViewSeqNum" [D] at ../../qgroundcontrol/qgroundcontrol/src/MissionManager/MissionController.cc:2371 - "setCurrentPlanViewSeqNum" [E] at ../../qgroundcontrol/qgroundcontrol/src/VideoReceiver/GstVideoReceiver.cc:284 - "Stop called on empty URI" [E] at ../../qgroundcontrol/qgroundcontrol/src/VideoReceiver/GstVideoReceiver.cc:284 - "Stop called on empty URI" [D] at ../../qgroundcontrol/qgroundcontrol/src/MissionManager/MissionController.cc:1272 - "_recalcFlightPathSegments homePositionValid false" [D] at ../../qgroundcontrol/qgroundcontrol/src/MissionManager/MissionController.cc:1272 - "_recalcFlightPathSegments homePositionValid false" [D] at ../../qgroundcontrol/qgroundcontrol/src/QGCApplication.cc:848 - ""v4.2.0"" [!] at :0 - "Unable to start the client: "org.freedesktop.DBus.Error.AccessDenied" "Geolocation disabled for UID 1000"" [E] at ../../qgroundcontrol/qgroundcontrol/src/PositionManager/PositionManager.cpp:188 - "QGCPositionManager error 0" [D] at ../../qgroundcontrol/qgroundcontrol/src/comm/UDPLink.cc:205 - "Adding target QHostAddress("192.168.110.152") 14550" [D] at ../../qgroundcontrol/qgroundcontrol/src/MissionManager/MissionController.cc:1272 - "_recalcFlightPathSegments homePositionValid false" [D] at ../../qgroundcontrol/qgroundcontrol/src/MissionManager/MissionController.cc:2371 - "setCurrentPlanViewSeqNum" [D] at ../../qgroundcontrol/qgroundcontrol/src/MissionManager/MissionController.cc:2371 - "setCurrentPlanViewSeqNum" [D] at ../../qgroundcontrol/qgroundcontrol/src/MissionManager/MissionController.cc:1272 - "_recalcFlightPathSegments homePositionValid false" [D] at ../../qgroundcontrol/qgroundcontrol/src/MissionManager/MissionController.cc:1272 - "_recalcFlightPathSegments homePositionValid false" [E] at qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42 - "qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42: Error: createRadialGradient(): Incorrect arguments" [I] at ../../qgroundcontrol/qgroundcontrol/src/FactSystem/ParameterManager.cc:829 - "Attemping load from cache" [I] at ../../qgroundcontrol/qgroundcontrol/src/FactSystem/ParameterManager.cc:919 - "Parameters cache match failed /home/kris/.config/QGroundControl.org/ParamCache/1_1.v2" [E] at qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42 - "qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42: Error: createRadialGradient(): Incorrect arguments" [E] at qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42 - "qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42: Error: createRadialGradient(): Incorrect arguments" [E] at qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42 - "qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42: Error: createRadialGradient(): Incorrect arguments" [E] at qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42 - "qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42: Error: createRadialGradient(): Incorrect arguments" [E] at qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42 - "qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42: Error: createRadialGradient(): Incorrect arguments" [E] at qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42 - "qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42: Error: createRadialGradient(): Incorrect arguments" [E] at qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42 - "qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42: Error: createRadialGradient(): Incorrect arguments" [E] at qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42 - "qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42: Error: createRadialGradient(): Incorrect arguments" [E] at qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42 - "qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42: Error: createRadialGradient(): Incorrect arguments" [E] at ../../qgroundcontrol/qgroundcontrol/src/comm/UDPLink.cc:167 - "Error writing to QHostAddress("192.168.110.152") 14550" [E] at qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42 - "qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42: Error: createRadialGradient(): Incorrect arguments" [E] at qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42 - "qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42: Error: createRadialGradient(): Incorrect arguments" [E] at qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42 - "qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42: Error: createRadialGradient(): Incorrect arguments" [E] at qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42 - "qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42: Error: createRadialGradient(): Incorrect arguments" [E] at qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42 - "qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42: Error: createRadialGradient(): Incorrect arguments" [E] at qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42 - "qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42: Error: createRadialGradient(): Incorrect arguments" [E] at qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42 - "qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42: Error: createRadialGradient(): Incorrect arguments" [E] at qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42 - "qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42: Error: createRadialGradient(): Incorrect arguments" [E] at qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42 - "qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42: Error: createRadialGradient(): Incorrect arguments" [E] at qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42 - "qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42: Error: createRadialGradient(): Incorrect arguments" [E] at qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42 - "qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42: Error: createRadialGradient(): Incorrect arguments" [E] at qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42 - "qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42: Error: createRadialGradient(): Incorrect arguments" [E] at qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42 - "qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42: Error: createRadialGradient(): Incorrect arguments" [E] at qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42 - "qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42: Error: createRadialGradient(): Incorrect arguments" [E] at qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42 - "qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42: Error: createRadialGradient(): Incorrect arguments" [E] at qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42 - "qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42: Error: createRadialGradient(): Incorrect arguments" [E] at qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42 - "qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42: Error: createRadialGradient(): Incorrect arguments" [E] at qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42 - "qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42: Error: createRadialGradient(): Incorrect arguments" [E] at qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42 - "qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42: Error: createRadialGradient(): Incorrect arguments" [E] at qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42 - "qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42: Error: createRadialGradient(): Incorrect arguments" [E] at qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42 - "qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42: Error: createRadialGradient(): Incorrect arguments" [E] at ../../qgroundcontrol/qgroundcontrol/src/comm/UDPLink.cc:167 - "Error writing to QHostAddress("192.168.110.152") 14550" [E] at ../../qgroundcontrol/qgroundcontrol/src/comm/UDPLink.cc:167 - "Error writing to QHostAddress("192.168.110.152") 14550" [E] at ../../qgroundcontrol/qgroundcontrol/src/comm/UDPLink.cc:167 - "Error writing to QHostAddress("192.168.110.152") 14550" [E] at qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42 - "qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42: Error: createRadialGradient(): Incorrect arguments" [E] at qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42 - "qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42: Error: createRadialGradient(): Incorrect arguments" [E] at qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42 - "qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42: Error: createRadialGradient(): Incorrect arguments" [E] at qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42 - "qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42: Error: createRadialGradient(): Incorrect arguments" [E] at qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42 - "qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42: Error: createRadialGradient(): Incorrect arguments" [E] at qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42 - "qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42: Error: createRadialGradient(): Incorrect arguments" [E] at qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42 - "qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42: Error: createRadialGradient(): Incorrect arguments" [E] at qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42 - "qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42: Error: createRadialGradient(): Incorrect arguments" [E] at qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42 - "qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42: Error: createRadialGradient(): Incorrect arguments" [E] at qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42 - "qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42: Error: createRadialGradient(): Incorrect arguments" [E] at qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42 - "qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42: Error: createRadialGradient(): Incorrect arguments" [E] at qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42 - "qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42: Error: createRadialGradient(): Incorrect arguments" [E] at ../../qgroundcontrol/qgroundcontrol/src/comm/UDPLink.cc:167 - "Error writing to QHostAddress("192.168.110.152") 14550" [E] at qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42 - "qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42: Error: createRadialGradient(): Incorrect arguments" [E] at qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42 - "qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42: Error: createRadialGradient(): Incorrect arguments" [E] at ../../qgroundcontrol/qgroundcontrol/src/comm/UDPLink.cc:167 - "Error writing to QHostAddress("192.168.110.152") 14550" [E] at qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42 - "qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42: Error: createRadialGradient(): Incorrect arguments" [E] at qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42 - "qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42: Error: createRadialGradient(): Incorrect arguments" [E] at qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42 - "qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42: Error: createRadialGradient(): Incorrect arguments" [E] at qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42 - "qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42: Error: createRadialGradient(): Incorrect arguments" [E] at qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42 - "qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42: Error: createRadialGradient(): Incorrect arguments" [E] at qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42 - "qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42: Error: createRadialGradient(): Incorrect arguments" ``` ## Reply by Kris · 2022-09-01 22:20:37 UTC The errors are continuous and eventually everything freezes. When QGC finally closes, I lose my internet connection on my host PC. I dont know what's going on. Maybe its because of the settings from voxl... ## Reply by Adrian Hidalgo (ModalAI staff) · 2022-09-01 23:21:38 UTC @Kris before turning on the Seeker, QGC works fine? Are you able to navigate around the gui? Hmm...You could try deleting the px4 parameters that were loaded onto the voxl. You'll have to calibrate all the sensors and load the correct parameters if you do choose to go this route. It kinda seems like there's something with the obstacle avoidance. May first want to try disabling en_voa in vvpx4 (marking it false) as well as disabling dfs server before deleting px4 parameters ## Reply by Chad Sweet (ModalAI staff) · 2022-09-01 23:29:26 UTC I think Kris is printing out errors from QGC, which we do not have any influence of The original issue was that PX4 is not incorporating VIO data. For that, please try the parameters recommended for Seeker Here are the default Seeker parameters for PX4 1.11: https://gitlab.com/voxl-public/flight-core-px4/px4-parameters/-/blob/master/platforms/v1.11/Seeker_v1_param_rev_A.params https://gitlab.com/voxl-public/flight-core-px4/px4-parameters/-/blob/master/helpers/seeker/ekf2_indoor_vio.params ## Reply by Kris · 2022-09-01 23:34:27 UTC @Adrian-Hidalgo @Chad-Sweet , Thank you. I reverted back to v4.0.11 and QGC loaded normally with the drone. Maybe when I removed the QGC the first time and installed the newest version v4.2.3, I might have done it wrong. I am researching into it now. I will try again soon with the v4.2.3 Any ideas on what is wrong? ## Reply by Kris · 2022-09-01 23:36:30 UTC (in reply to Adrian Hidalgo) @Adrian-Hidalgo yes, v4.2.3 was working fine before turning on the drone. As soon as I turned it on, the drone connected then disconnected a couple of times. finally disconnecting and eventually freezing PX4. ## Reply by Kris · 2022-09-02 00:06:49 UTC @Adrian-Hidalgo @Chad-Sweet Ok, I got PX4 v4.2.3 to work. The Odometry and the LOCAL_POSITION_NED are still reading 0 value for x and y. So, I will try to restart some services in voxl. ## Reply by Chad Sweet (ModalAI staff) · 2022-09-02 00:11:44 UTC If voxl-inspect-qvio is showing good VIO data, there should be no need to change things on VOXL. the VOXL services are working properly. You are most likely having issues with PX4 which runs on Flight Core. Please load the parameter files recommended and report back the result. ## Reply by Kris · 2022-09-02 00:21:26 UTC (in reply to Chad Sweet) @Chad-Sweet I tried loading those two files again, but they are the same as what I already have loaded in PX4. ![nodifferences.png](https://forum.modalai.com/assets/uploads/files/1662078083780-nodifferences.png) I got this message for both of the files (Seeker_v1_param_rev_A) and (ekf2_indoor_vio). ## Reply by Kris · 2022-09-02 00:25:53 UTC (in reply to Chad Sweet) @Chad-Sweet PX4 Sensor Status ![PX4 Sensor Status.png](https://forum.modalai.com/assets/uploads/files/1662078350107-px4-sensor-status.png) ## Reply by Kris · 2022-09-02 00:31:16 UTC I suppose I can disable voa and only have vio enabled in voxl-vision-px4.conf file and see if that gets the vio to work. ## Reply by Kris · 2022-09-02 00:59:45 UTC (in reply to Chad Sweet) @Chad-Sweet I think the QVIO data looks a little blurry on the right side. Could this be the cause? ![QVIO-r.png](https://forum.modalai.com/assets/uploads/files/1662080384373-qvio-r.png) ## Reply by Kris · 2022-09-02 01:57:50 UTC (in reply to Chad Sweet) @Chad-Sweet I ran the command```voxl-inspect-cam qvio```and these are the results. ``` | Pipe Name |size(bytes)| height | width |exposure(ms)| gain | frame id |latency(ms)|Framt ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: only read 1520 bytes of data, expected 983401498 ERROR: only read 1520 bytes of data, expected 983149407 ERROR: only read 1520 bytes of data, expected 983930947 ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: only read 1520 bytes of data, expected 983422103 ERROR: received unreasonably large camera frame size ERROR: only read 1520 bytes of data, expected 983595126 ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: only read 1520 bytes of data, expected 983464840 ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: only read 1520 bytes of data, expected 983415196 ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: only read 1520 bytes of data, expected 983527753 ERROR: only read 1520 bytes of data, expected 983349143 ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: only read 1520 bytes of data, expected 983865918 ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: only read 1520 bytes of data, expected 983142625 ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: only read 1520 bytes of data, expected 983727796 ERROR: only read 1520 bytes of data, expected 983669901 ERROR: only read 1520 bytes of data, expected 983405545 ERROR: received unreasonably large camera frame size ERROR: only read 1520 bytes of data, expected 983563131 ERROR: only read 1520 bytes of data, expected 984096255 ERROR: only read 1520 bytes of data, expected 983959335 ERROR: received unreasonably large camera frame size ERROR: only read 1520 bytes of data, expected 983599080 ERROR: only read 1520 bytes of data, expected 983627034 ERROR: received unreasonably large camera frame size ERROR: only read 1520 bytes of data, expected 983492744 ERROR: received unreasonably large camera frame size ERROR: only read 1520 bytes of data, expected 983316928 ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: only read 1520 bytes of data, expected 983339417 ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: only read 1520 bytes of data, expected 982167476 ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: only read 1520 bytes of data, expected 983328375 ERROR: only read 1520 bytes of data, expected 982822047 ERROR: only read 1520 bytes of data, expected 982820284 ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: only read 1520 bytes of data, expected 982943181 ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: only read 1520 bytes of data, expected 983051188 ERROR: received unreasonably large camera frame size ERROR: only read 1520 bytes of data, expected 982898929 ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: only read 1520 bytes of data, expected 983097249 ERROR: received unreasonably large camera frame size ERROR: only read 1520 bytes of data, expected 983276539 ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: received unreasonably large camera frame size ERROR: only read 1520 bytes of data, expected 983529139 ^C received SIGINT Ctrl-C ERROR: only read 896 bytes of data, expected 983179045 ``` This is what I get for tracking; ``` | Pipe Name |size(bytes)| height | width |exposure(ms)| gain | frame id |latency(ms)|Framt | tracking | 307200 | 480 | 640 | 7.50 | 150 | 45466 | 13.5 | 8 ``` This is what I get for stereo; ``` | Pipe Name |size(bytes)| height | width |exposure(ms)| gain | frame id |latency(ms)|Framt | stereo | 614400 | 480 | 640 | 2.92 | 100 | 47266 | 46.3 | 8 ``` and this is what I get for tof; ``` | Pipe Name |size(bytes)| height | width |exposure(ms)| gain | frame id |latency(ms)|Framt | tof | 0 | 0 | 0 | 0.00 | 0 | 0 | 18.1 | 8 ERROR: invalid metadata, magic number=0, expected 1448040524 ``` It looks like the problem is coming from the tof right? So I ran the command ```voxl-inspect-tof```and was only receiving 0.0 in the values. So I waved my hand back in forth in front of the tof cam (roughly 3 inches away from tof) and 0.2 was the highest value I could get. ``` timestamp(ms)| center point (m) 1979507 | -0.0 0.0 0.2^C ``` However the ```voxl-inspect-qvio``` appears to be fine. ``` voxl:~$ voxl-inspect-qvio waiting for server T_imu_wrt_vio (m) |Roll Pitch Yaw (deg)| state| error_code 0.00 -0.00 -0.00| 0.0 -0.0 -0.0| OKAY | 0.00 -0.00 -0.00| -0.0 -0.0 0.0| OKAY | 0.00 0.00 0.00| -0.0 -0.2 0.1| OKAY | 0.00 -0.00 -0.00| -0.0 -0.2 0.1| OKAY | -0.00 -0.00 -0.00| -0.2 0.8 -0.2| OKAY | 0.01 -0.01 -0.00| -0.4 4.1 7.9| OKAY | -0.00 -0.03 0.01| -0.9 -1.3 -10.3| OKAY | 0.01 -0.00 -0.01| 0.0 3.7 -0.6| OKAY | 0.01 -0.00 -0.01| -0.0 3.7 -0.6| OKAY | ^C received SIGINT Ctrl-C ``` I rotated the voxl slightly to the left and to the right to obtain those values. ## Reply by Chad Sweet (ModalAI staff) · 2022-09-02 03:56:53 UTC The QVIO overlay looks good, so VIO is working. There is nothing wrong with the image sensor and VOXL setup if VIO is working. TOF and stereo have nothing to do with VIO. VIO is publishing valid data, but PX4 is not receiving it for some reason ## Reply by Kris · 2022-09-02 04:09:05 UTC (in reply to Chad Sweet) @Chad-Sweet I have been working on putting together some information/data. I will be posting it here soon. ## Reply by Kris · 2022-09-02 04:30:14 UTC (in reply to Chad Sweet) @Chad-Sweet below is some data I have collected. voxl-inspect-points tof_pc ``` timestamp(ms)| # points | # bytes | 1st point | Format 436351 | 38528 | 462336 | 0.0 0.0 0.0 | Float XYZ 438151 | 38528 | 462336 | 0.0 0.0 0.0 | Float XYZ 440885 | 38528 | 462336 | 0.0 0.0 0.0 | Float XYZ 442417 | 38528 | 462336 | 0.0 0.0 0.0 | Float XYZ 448818 | 38528 | 462336 | 0.0 0.0 0.0 | Float XYZ 453484 | 38528 | 462336 | 0.0 0.0 0.0 | Float XYZ 454684 | 38528 | 462336 | 0.0 0.0 0.0 | Float XYZ 461952 | 38528 | 462336 | 0.0 0.0 0.0 | Float XYZ^C received SIGINT Ctrl-C closing and exiting ``` I moved the drone around and placed my hand and objects in front of the tof, but I was still not able to get any values. voxl-inspect-points voa_pc_out ``` voxl-inspect-points voa_pc_out timestamp(ms)| # points | # bytes | 1st point | Format 534219 | 438 | 5256 | 0.2 0.1 0.1 | Float XYZ 534353 | 438 | 5256 | 0.2 0.1 0.1 | Float XYZ 534488 | 437 | 5244 | 0.2 0.1 0.1 | Float XYZ 534587 | 440 | 5280 | 0.2 0.1 0.1 | Float XYZ 534720 | 438 | 5256 | 0.2 0.1 0.1 | Float XYZ 534853 | 427 | 5124 | 0.2 0.1 0.1 | Float XYZ 534986 | 436 | 5232 | 0.2 0.1 0.1 | Float XYZ 535086 | 447 | 5364 | 0.2 0.1 0.1 | Float XYZ 535219 | 453 | 5436 | 0.2 0.1 0.1 | Float XYZ 535352 | 445 | 5340 | 0.2 0.1 0.1 | Float XYZ 535619 | 465 | 5580 | 0.2 0.1 0.1 | Float XYZ 535752 | 455 | 5460 | 0.2 0.1 0.1 | Float XYZ 535886 | 456 | 5472 | 2.9 1.7 -1.3 | Float XYZ 536019 | 450 | 5400 | 0.2 0.1 0.1 | Float XYZ 536186 | 439 | 5268 | 0.2 0.1 0.1 | Float XYZ 536286 | 437 | 5244 | 0.2 0.1 0.1 | Float XYZ 536419 | 446 | 5352 | 0.2 0.1 0.1 | Float XYZ 536586 | 450 | 5400 | 0.2 0.1 0.1 | Float XYZ 536719 | 448 | 5376 | 0.2 0.1 0.1 | Float XYZ 536853 | 438 | 5256 | 0.2 0.1 0.1 | Float XYZ 536986 | 448 | 5376 | 0.2 0.1 0.1 | Float XYZ 537153 | 459 | 5508 | 0.2 0.1 0.1 | Float XYZ 537287 | 462 | 5544 | 0.2 0.1 0.1 | Float XYZ 537419 | 459 | 5508 | 0.2 0.1 0.1 | Float XYZ 537586 | 464 | 5568 | 2.9 1.7 -1.3 | Float XYZ 537719 | 453 | 5436 | 0.2 0.1 0.1 | Float XYZ 537886 | 446 | 5352 | 0.2 0.1 0.1 | Float XYZ 538019 | 443 | 5316 | 0.2 0.1 0.1 | Float XYZ 538152 | 440 | 5280 | 0.2 0.1 0.1 | Float XYZ 538285 | 444 | 5328 | 0.2 0.1 0.1 | Float XYZ 538419 | 448 | 5376 | 0.2 0.1 0.1 | Float XYZ 538586 | 469 | 5628 | 0.2 0.1 0.1 | Float XYZ 573252 | 42 | 504 | 0.2 0.1 0.1 | Float XYZ 573385 | 43 | 516 | 0.2 0.1 0.1 | Float XYZ 573552 | 44 | 528 | 0.2 0.1 0.1 | Float XYZ 573718 | 49 | 588 | 0.2 0.1 0.1 | Float XYZ 574019 | 47 | 564 | 0.2 0.1 0.1 | Float XYZ 594519 | 452 | 5424 | 0.2 0.1 0.1 | Float XYZ 595052 | 421 | 5052 | 0.2 0.1 0.1 | Float XYZ 595552 | 422 | 5064 | 0.2 0.1 0.1 | Float XYZ 603719 | 451 | 5412 | 0.2 0.1 0.1 | Float XYZ^C received SIGINT Ctrl-C closing and exiting ``` Nothing was in front of the drone at the beginning and those were the values that I was receiving. the point values remained at "0.2 0.1 0.1" then every 2 seconds or so the values would flash "2.9 1.7 -1.3" for a split second. Then towards the end I placed my hand in front of the tof cam (about 3~5 inches away) and recieved those 40's. When I removed my hand the values changed back to the 400's. voxl-inspect-points dfs_disparity ``` timestamp(ms)| # points | # bytes | 1st point | Format ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 invalid metadata, magic number=0, expected 1448040524 ^C received SIGINT Ctrl-C closing and exiting ``` ![Dfs_Disparity-r.png](https://forum.modalai.com/assets/uploads/files/1662092704919-dfs_disparity-r.png) voxl-inspect-points dfs_disparity_scaled ``` timestamp(ms)| # points | # bytes | 1st point | Format ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570 invalid metadata, magic number=0, expected 1448040524 ^C received SIGINT Ctrl-C closing and exiting ``` ![Dfs_Disparity_Scaled-r.png](https://forum.modalai.com/assets/uploads/files/1662092836646-dfs_disparity_scaled-r.png) voxl-inspect-points dfs_point_cloud ``` timestamp(ms)| # points | # bytes | 1st point | Format 1534485 | 4800 | 57600 | -inf -inf 10000.0 | Float XYZ 1535687 | 4800 | 57600 | -inf -inf 10000.0 | Float XYZ 1538019 | 4800 | 57600 | -inf -inf 10000.0 | Float XYZ 1539718 | 4800 | 57600 | -inf -inf 10000.0 | Float XYZ 1541220 | 4800 | 57600 | -inf -inf 10000.0 | Float XYZ 1542219 | 4800 | 57600 | -inf -inf 10000.0 | Float XYZ 1543217 | 4800 | 57600 | -inf -inf 10000.0 | Float XYZ 1544216 | 4800 | 57600 | -inf -inf 10000.0 | Float XYZ 1545218 | 4800 | 57600 | -inf -inf 10000.0 | Float XYZ 1545718 | 4800 | 57600 | -inf -inf 10000.0 | Float XYZ 1548718 | 4800 | 57600 | -inf -inf 10000.0 | Float XYZ 1549551 | 4800 | 57600 | -inf -inf 10000.0 | Float XYZ 1550051 | 4800 | 57600 | -inf -inf 10000.0 | Float XYZ 1550784 | 4800 | 57600 | -inf -inf 10000.0 | Float XYZ 1553650 | 4800 | 57600 | -inf -inf 10000.0 | Float XYZ^C received SIGINT Ctrl-C closing and exiting ``` I moved the drone around and also placed my hand in front of the voxl, but only the timestamp was working. voxl-inspect-points tof_noise ``` timestamp(ms)| # points | # bytes | 1st point | Format ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ^C received SIGINT Ctrl-C closing and exiting ``` ![TOF_Noise.png](https://forum.modalai.com/assets/uploads/files/1662093007475-tof_noise-resized.png) ## Reply by Kris · 2022-09-02 04:37:14 UTC voxl-inspect-points tof_ir ``` timestamp(ms)| # points | # bytes | 1st point | Format ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=1, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=65536, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=1, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=16842752, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=16777216, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=256, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=16777216, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=16777216, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=16777472, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=1, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=65537, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ^C received SIGINT Ctrl-C closing and exiting ``` ![TOF_Ir.png](https://forum.modalai.com/assets/uploads/files/1662093115476-tof_ir-resized.png) voxl-inspect-points tof_conf ``` timestamp(ms)| # points | # bytes | 1st point | Format ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ^C received SIGINT Ctrl-C closing and exiting ``` ![TOF_Conf.png](https://forum.modalai.com/assets/uploads/files/1662093184062-tof_conf-resized.png) voxl-inspect-points tof_depth ``` timestamp(ms)| # points | # bytes | 1st point | Format ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726 ^C received SIGINT Ctrl-C closing and exiting ``` ![TOF_Depth.png](https://forum.modalai.com/assets/uploads/files/1662093231931-tof_depth-resized.png) voxl-inspect-points qvio ``` timestamp(ms)| # points | # bytes | 1st point | Format ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11172 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11178 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11174 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11173 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11170 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11172 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11170 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11171 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11178 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11178 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11178 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11171 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11172 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11173 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11177 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11175 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11174 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11170 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11174 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11170 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11177 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11170 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11171 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11172 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11174 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11171 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11178 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11170 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11172 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11173 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11178 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11175 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11177 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11174 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11177 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11172 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11171 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11173 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11175 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11176 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11178 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11173 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11170 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11177 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11173 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11179 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11175 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11171 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11171 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11170 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11179 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11171 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11177 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11175 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11176 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11178 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11170 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11173 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11177 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11175 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11179 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11173 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11170 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11176 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11178 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11170 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11173 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11174 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11176 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11171 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11177 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11174 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11173 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11178 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11173 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11177 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11175 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11177 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11178 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11171 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11179 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11177 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11177 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11170 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11175 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11171 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11175 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11176 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11174 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11176 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11175 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11177 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11178 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11178 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11171 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11173 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11179 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11177 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11175 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11175 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11172 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11173 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11176 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11170 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11170 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11178 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11179 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11178 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11174 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11178 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11173 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11171 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11179 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11174 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11176 ^C received SIGINT Ctrl-C closing and exiting ``` voxl-inspect-points qvio_overlay ``` timestamp(ms)| # points | # bytes | 1st point | Format ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524 invalid metadata, magic number=0, expected 1448040524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524 ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524 ^C received SIGINT Ctrl-C closing and exiting ``` ![QVIO-r.png](https://forum.modalai.com/assets/uploads/files/1662093336076-qvio-r.png) ## Reply by Kris · 2022-09-02 04:42:27 UTC @Chad-Sweet So, what do you think the problem might be? I’ll be taking a more detailed look at PX4 next. If you feel that is where the issue is for the VIO. ## Reply by Kris · 2022-09-02 04:47:38 UTC @Chad-Sweet I really do appreciate you helping me with this. Thank you! 🙏 ## Reply by Kris · 2022-09-02 15:58:59 UTC Hi, If the problem is coming from PX4, how should I go about resolving it? Should I be speaking with PX4 support instead of ModalAi? ## Reply by Kris · 2022-09-02 16:28:45 UTC @Chad-Sweet @Adrian-Hidalgo , For PX4 confirmation, here is my voxl vision status. ``` voxl:~$ systemctl status voxl-vision-px4 -l ● voxl-vision-px4.service - voxl-vision-px4 Loaded: loaded (/usr/bin/voxl-vision-px4; enabled; vendor preset: enabled) Active: active (running) since Thu 1970-01-01 00:00:06 UTC; 52 years 8 months ago Main PID: 2073 (voxl-vision-px4) CGroup: /system.slice/voxl-vision-px4.service └─2073 /usr/bin/voxl-vision-px4 Sep 02 16:25:57 apq8096 voxl-vision-px4[2073]: ERROR validating VIO data received through pipe: read partial packet Sep 02 16:25:57 apq8096 voxl-vision-px4[2073]: read 156 bytes, but it should be a multiple of 324 Sep 02 16:25:57 apq8096 voxl-vision-px4[2073]: ERROR validating VIO data received through pipe: read partial packet Sep 02 16:25:57 apq8096 voxl-vision-px4[2073]: read 156 bytes, but it should be a multiple of 324 Sep 02 16:25:57 apq8096 voxl-vision-px4[2073]: ERROR validating VIO data received through pipe: read partial packet Sep 02 16:25:57 apq8096 voxl-vision-px4[2073]: read 156 bytes, but it should be a multiple of 324 Sep 02 16:25:57 apq8096 voxl-vision-px4[2073]: ERROR validating VIO data received through pipe: read partial packet Sep 02 16:25:57 apq8096 voxl-vision-px4[2073]: read 156 bytes, but it should be a multiple of 324 Sep 02 16:25:57 apq8096 voxl-vision-px4[2073]: ERROR validating VIO data received through pipe: read partial packet Sep 02 16:25:57 apq8096 voxl-vision-px4[2073]: read 156 bytes, but it should be a multiple of 324 voxl:~$ ``` Could this be a time/clock, or a watchdog timer issue? ``` Active: active (running) since Thu 1970-01-01 00:00:06 UTC; 52 years 8 months ago ``` ## Reply by James Strawson (ModalAI staff) · 2022-09-02 17:37:42 UTC Hi Kris It looks like the voxl-vision-px4 and voxl-qvio-server versions have gotten out of sync, likely voxl-vision-px4 has been updated but voxl-qvio-server was not. Do you mind proving the output from the following 3 commands so I can check the state of the opkg package manager ``` cat /etc/opkg/opkg.conf opkg info voxl-vision-px4 opkg info voxl-qvio-server ``` Thanks, James ## Reply by Kris · 2022-09-02 17:47:29 UTC (in reply to James Strawson) Hi @James-Strawson , thank you. Here are the outputs you have requested. ``` ################################################################ ## This file has been automatically generated. ## Please use voxl-configure-opkg to modify it. ################################################################ dest root / option lists_dir /var/lib/opkg/lists arch all 1 arch arm64 7 src/gz modalai http://voxl-packages.modalai.com/dists/apq8096/stable/binary-arm64/ ``` ``` voxl:~$ opkg info voxl-vision-px4 Package: voxl-vision-px4 Version: 1.2.0 Depends: librc-math, libmodal-pipe (>= 2.4.0), libmodal-json, voxl-mpa-tools (>= 0.2.5), voxl-mavlink-server, libmodal-cv (>= 0.1.0) Status: install user installed Section: base Architecture: arm64 Maintainer: James Strawson MD5Sum: 4bcff955596c2a5964d68cacf60d08a8 Size: 106864 Filename: voxl-vision-px4_1.2.0.ipk Description: Interface between VOXL's computer vision services and PX4 Installed-Time: 1661276328 ``` ``` voxl:~$ opkg info voxl-qvio-server Package: voxl-qvio-server Version: 0.7.1 Depends: libmodal-pipe (>= 2.4.0), libmodal-json (>= 0.4.0), voxl-mpa-tools (>= 0.7.0) Status: unknown ok not-installed Section: base Architecture: arm64 Maintainer: james@modalai.com MD5Sum: 2ccb793c2d7059217d9d32b54564352b Size: 55416 Filename: voxl-qvio-server_0.7.1.ipk Description: publishes QVIO data over named pipe interface Package: voxl-qvio-server Version: 0.4.6 Depends: libmodal-pipe (>= 2.0.0), libmodal-json (>= 0.4.0), voxl-mpa-tools Status: install ok installed Architecture: arm64 Installed-Time: 6815 ``` qvio-server version 0.7.1 status: unknown ok not-installed ``` voxl:~$ opkg list-installed | grep "libmodal" libmodal-cv - 0.1.0 libmodal-exposure - 0.0.7 libmodal-json - 0.4.2 libmodal-pipe - 2.4.0 ``` ## Reply by James Strawson (ModalAI staff) · 2022-09-02 18:04:45 UTC Yes, It seems your installed voxl-vision-px4 and libmodal_pipe versions are from SDK 0.8 wheras your voxl-qvio-server is from SDK 0.7, that is the source of the mismatch. You can upgrade qvio server with `opkg install voxl-qvio-server` to fix the mismatch quickly but I would recommend just flashing back to the SDK 0.7 platform release since SDK 0.8 does not support TOF on VOXL1. The platform releases are tested as a whole an include a set of packages all known to work together. When individual packages get upgraded instead of the whole SDK together then things tend to break. ## Reply by Kris · 2022-09-02 18:06:16 UTC (in reply to James Strawson) @James-Strawson Thank you, I will try this 👍 ## Reply by Kris · 2022-09-02 19:14:59 UTC (in reply to James Strawson) @James-Strawson could you please help me with flashing back to SDK 0.7 or provide a link explaining how to flash back to a lower SDK? This can be done over ssh right? Or do I need to ADB into voxl? ## Reply by James Strawson (ModalAI staff) · 2022-09-02 19:21:04 UTC Instructions here: https://docs.modalai.com/flash-system-image/ The latest platform release for voxl1 is voxl_platform_3.8.0-0.7.tar available for download here https://developer.modalai.com/asset/1 ## Reply by Kris · 2022-09-02 19:50:55 UTC (in reply to James Strawson) @James-Strawson oh ok, now I remember :rolling_on_the_floor_laughing: Cheers mate! 👍 ## Reply by Kris · 2022-09-02 20:19:00 UTC @Chad-Sweet @Adrian-Hidalgo @James-Strawson Everything is working now! THANK YOU so much for all your help!!!