X and Y coordinates zero after pushing the VVPX4 package



  • Hello,

    I'm trying to push the VVPX4 package into VOXL without any changes but as soon I reboot the device the VIO pipeline seems to be closed as I get a '0' for both x and y coordinates of the local position. However, all the services are enabled and working (camera, qvio and vision). I have updated the voxl-suite to 0.8.1 but the positioning worked fine after that. It's when I pushed the VVPX4 package that the vio pipeline stops transferring data.

    / # voxl-inspect-services 
     Service Name         |  Enabled  |   Running   |  CPU Usage
    ---------------------------------------------------------------
     docker-autorun       | Disabled  | Not Running |  
     docker-daemon        | Disabled  | Not Running |  
     modallink-relink     | Disabled  | Not Running |  
     voxl-camera-server   |  Enabled  |   Running   |     5.9
     voxl-cpu-monitor     |  Enabled  |   Running   |     0.0
     voxl-dfs-server      | Disabled  | Not Running |  
     voxl-imu-server      |  Enabled  |   Running   |     1.9
     voxl-mavlink-server  |  Enabled  |   Running   |     1.9
     voxl-modem           | Disabled  | Not Running |  
     voxl-portal          |  Enabled  |   Running   |     0.0
     voxl-qvio-server     |  Enabled  |   Running   |     7.9
     voxl-streamer        | Disabled  | Not Running |  
     voxl-tag-detector    | Disabled  | Not Running |  
     voxl-tflite-server   | Disabled  | Not Running |  
     voxl-time-sync       | Disabled  | Not Running |  
     voxl-vision-px4      |  Enabled  |   Running   |     1.9
     voxl-wait-for-fs     |  Enabled  |  Completed  |  
    
    
    

    Here is the voxl-vision-px4 config file:

    {
    	"imu_name":	"imu0",
    	"cam_name":	"tracking",
    	"odr_hz":	30,
    	"use_camera_height_bootstrap":	true,
    	"camera_height_off_ground_m":	0.085000000894069672,
    	"enable_init_while_moving":	true,
    	"cam_imu_timeshift_s":	-0.0020000000949949026,
    	"cam_imu_timeshift_s_uncertainty":	0.0010000000474974513,
    	"T_cam_wrt_imu_uncertainty":	[0.00050000002374872565, 0.00050000002374872565, 0.00050000002374872565],
    	"R_cam_to_imu_uncertainty":	[0.00499999988824129, 0.00499999988824129, 0.00499999988824129],
    	"accl_fsr_ms2":	156,
    	"gyro_fsr_rad":	34,
    	"accl_noise_std_dev":	0.31600001454353333,
    	"gyro_noise_std_dev":	0.00999999977648258,
    	"cam_noise_std_dev":	100,
    	"min_std_pixel_noise":	0.5,
    	"fail_high_pixel_noise_points":	1.6650999784469604,
    	"limited_imu_bw_trigger":	35,
    	"gps_imu_time_alignment_s":	0,
    	"T_gps_wrt_imu":	[-0.11500000208616257, 0.449999988079071, 0.10000000149011612],
    	"enable_mapping":	true,
    	"enable_gps_vel":	false
    }
    
    

  • Dev Team

    Hi,

    Just because the process is running doesn't necessarily mean that it's functioning properly, can you check/paste the logs from journalctl -u voxl-vision-px4 and see if anything there indicates what the issue is.



  • Here is the log:

    -- Logs begin at Thu 1970-01-01 00:01:35 UTC, end at Thu 1970-01-01 00:03:25 UT
    C. --
    Jan 01 00:01:37 apq8096 systemd[1]: Started voxl-vision-px4.
    Jan 01 00:01:38 apq8096 voxl-vision-px4[2018]: ERROR validating VIO data receiv
    ed through pipe: read partial packet
    Jan 01 00:01:38 apq8096 voxl-vision-px4[2018]: read 156 bytes, but it should be
     a multiple of 324
    Jan 01 00:01:38 apq8096 voxl-vision-px4[2018]: ERROR validating VIO data receiv
    ed through pipe: read partial packet
    Jan 01 00:01:38 apq8096 voxl-vision-px4[2018]: read 156 bytes, but it should be
     a multiple of 324
    Jan 01 00:01:38 apq8096 voxl-vision-px4[2018]: ERROR validating VIO data receiv
    ed through pipe: read partial packet
    Jan 01 00:01:38 apq8096 voxl-vision-px4[2018]: read 156 bytes, but it should be
     a multiple of 324
    Jan 01 00:01:38 apq8096 voxl-vision-px4[2018]: ERROR validating VIO data receiv
    ed through pipe: read partial packet
    Jan 01 00:01:38 apq8096 voxl-vision-px4[2018]: read 156 bytes, but it should be
     a multiple of 324
    Jan 01 00:01:38 apq8096 voxl-vision-px4[2018]: ERROR validating VIO data receiv
    ed through pipe: read partial packet
    Jan 01 00:01:38 apq8096 voxl-vision-px4[2018]: read 156 bytes, but it should be
     a multiple of 324
    
    

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