X and Y coordinates zero after pushing the VVPX4 package

[IC]

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
}

[A Former User]

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.

[IC]

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