# Are "voxl-inspect-pose -f" (ie retrieval of pose data) and "voxl-inspect-qvio" (ie retrieval of qvio data) related to cpu temperature ? Source: https://forum.modalai.com/topic/1419/are-voxl-inspect-pose-f-ie-retrieval-of-pose-data-and-voxl-inspect-qvio-ie-retrieval-of-qvio-data-related-to-cpu-temperature Category: General Questions (https://forum.modalai.com/category/2/general-questions) Posted: 2022-10-03 08:43:20 UTC by ahmed-mustahid Replies: 1 · Views: 618 ## ahmed-mustahid · 2022-10-03 08:43:20 UTC After installing voxl platform from scratch by **flashing image**, I can run voxl-mapper and both `voxl-inspect-qvio` and `voxl-inspect-pose -f` produce correct outputs. ``` voxl:~$ voxl-inspect-qvio waiting for server T_imu_wrt_vio (m) |Roll Pitch Yaw (deg)| state| error_code 0.01 -0.00 -0.01| 0.4 1.4 1.9| OKAY | ``` and ``` voxl:~$ voxl-inspect-pose -f timestamp(ms)| Position (m) | Roll Pitch Yaw (deg) | Velocity (m/s) | angular rate (deg/s) | 347449 | -0.06 -0.02 -0.02 | -0.2 14.4 1.2 | 0.00 0.00 -0.00 | 0.14 0.16 -0.19 | ``` Naturally, voxl-mapper also produces proper indoor map ![Screenshot from 2022-10-03 14-01-26.png](https://forum.modalai.com/assets/uploads/files/1664785724226-screenshot-from-2022-10-03-14-01-26-resized.png) In this case, the temperature is the following: ``` voxl:~$ voxl-inspect-cpu 2Name Freq (MHz) Temp (C) Util (%) 3----------------------------------- 4cpu0 960.0 50.9 38.01 5cpu1 960.0 50.9 34.56 6cpu2 1113.6 51.5 27.29 7cpu3 1248.0 51.8 22.64 8Total 51.8 30.63 910s avg 23.83 10----------------------------------- 11GPU 0.0 46.2 0.00 12GPU 10s avg 0.00 13----------------------------------- 14memory temp: 47.7 C 15memory used: 797/3770 MB 16----------------------------------- 17Flags 18CPU freq scaling mode: auto 19GPU freq scaling mode: auto 20----------------------------------- 21^C 22received SIGINT Ctrl-C 23closing ``` But after about **half an hour**, the `voxl-inspect-qvio` and `voxl-inspect-pose -f` **stop working**. 1. `voxl-inspect-qvio` shows some values and shows `okay` status but **don’t change** even if drone is moved ``` voxl:~$ voxl-inspect-qvio waiting for server T_imu_wrt_vio (m) |Roll Pitch Yaw (deg)| state| error_code -2.65 -2.16 -0.78| -17.2 -31.0 45.7| OKAY | ^C received SIGINT Ctrl-C closing and exiting ``` 2. `voxl-inspect-pose -f` does not show anything ``` timestamp(ms)| Position (m) | Roll Pitch Yaw (deg) | Velocity (m/s) | angular rate (deg/s) | ``` 3. In this (*hot*) case, the temperature is the following: ``` Name Freq (MHz) Temp (C) Util (%) ----------------------------------- cpu0 1593.6 83.2 58.73 cpu1 1593.6 82.9 51.08 cpu2 883.2 85.2 31.87 cpu3 883.2 82.0 25.26 Total 85.2 41.73 10s avg 43.98 ----------------------------------- GPU 0.0 75.2 0.00 GPU 10s avg 0.00 ----------------------------------- memory temp: 77.8 C memory used: 998/3770 MB ----------------------------------- Flags CPU freq scaling mode: auto GPU freq scaling mode: auto ----------------------------------- ^C received SIGINT Ctrl-C closing ``` 4. After cooling the seeker for 1 hour, `voxl-inspect-qvio` shows correct outputs when drone is moved, but `voxl-inspect-pose -f` does not work. In this (*cool*) case, ``` voxl:~$ voxl-inspect-cpu 2Name Freq (MHz) Temp (C) Util (%) 3----------------------------------- 4cpu0 960.0 41.9 37.47 5cpu1 960.0 41.3 36.29 6cpu2 729.6 45.1 29.53 7cpu3 729.6 42.2 26.59 8Total 45.1 32.47 910s avg 31.86 10----------------------------------- 11GPU 0.0 37.6 0.00 12GPU 10s avg 0.00 13----------------------------------- 14memory temp: 39.7 C 15memory used: 561/3770 MB 16----------------------------------- 17Flags 18CPU freq scaling mode: auto 19GPU freq scaling mode: auto 20----------------------------------- 21^C 22received SIGINT Ctrl-C 23closing ``` and `voxl-inspect-qvio` works properly when the drone is moved ``` voxl:~$ voxl-inspect-qvio waiting for server T_imu_wrt_vio (m) |Roll Pitch Yaw (deg)| state| error_code -0.07 -0.39 -0.02| 33.2 -39.0 -19.9| OKAY | ^C received SIGINT Ctrl-C closing and exiting voxl:~$ voxl-inspect-qvio waiting for server T_imu_wrt_vio (m) |Roll Pitch Yaw (deg)| state| error_code -0.16 -0.54 -0.28| 110.8 7.6 -55.4| OKAY | ^C received SIGINT Ctrl-C closing and exiting voxl:~$ voxl-inspect-qvio waiting for server T_imu_wrt_vio (m) |Roll Pitch Yaw (deg)| state| error_code 0.39 -0.50 0.03| 69.5 -20.3 97.2| OKAY | ^C received SIGINT Ctrl-C closing and exiting ``` But, `voxl-inspect-pose -f` does not show anything ``` timestamp(ms)| Position (m) | Roll Pitch Yaw (deg) | Velocity (m/s) | angular rate (deg/s) | 2 3 ``` `voxl-inspect-pose -f` start working **only when** image is flashed and voxl platform and packages including `voxl-mapper` are **installed from scratch**. If temperature was the issue, would not `voxl-inspect-pose -f` start working, after the seeker has been cooled? Could you let me know why such problem is occuring? ## Reply by Chad Sweet (ModalAI staff) · 2022-10-07 05:54:10 UTC In flight you should not have any thermal issues. On the bench please use a fan to cool the device The OS kills processes when the chip gets too hot. Rebooting should bring it all back