# IMU calibration failed on voxl-configure0-snav

Source: https://forum.modalai.com/topic/174/imu-calibration-failed-on-voxl-configure0-snav
Category: Flight Core and Legacy VOXL (https://forum.modalai.com/category/9/flight-core-and-legacy-voxl)
Tags: voxl
Posted: 2021-04-02 14:28:50 UTC by shlee853
Replies: 0 · Views: 810

## shlee853 · 2021-04-02 14:28:50 UTC

Hi,

I'm on testing VOXL flight deck. I tried to calibrate IMU using configured voxl-configure-sanv command, but it failed because of SN.

could you please let me know how to sucess IMU calibaration?

Thanks,

yocto:/# voxl-configure-snav 

Which camera configuration are you using?
0 None
1 Tracking + Stereo
2 Tracking Only
3 Hires + Stereo + Tracking (default)
4 Hires + Tracking
5 TOF + Tracking
6 Hires + TOF + Tracking
7 TOF + Stereo + Tracking
8 Hires Only
9 TOF Only

3
attempting to use camera configuration 3
adding override_cam_id value=1 to /etc/snav/camera.downward.xml
adding override_cam_id value=2 to /etc/snav/camera.stereo.xml
Writing new configuration to /etc/modalai/voxl-camera-server.conf:
{
	"version":	0.2,
	"port_J2":	{
		"name":	"hires",
		"enabled":	true,
		"type":	"hires",
		"api":	"hal3",
		"rotation":	180,
		"frame_rate":	30,
		"override_id":	-1,
		"auto_exposure_mode":	"isp",
		"preview":	{
			"enabled":	true,
			"width":	640,
			"height":	480,
			"format":	"nv21"
		},
		"video":	{
			"enabled":	false,
			"width":	1024,
			"height":	768,
			"format":	"h264"
		},
		"snapshot":	{
			"enabled":	false,
			"width":	1024,
			"height":	768,
			"format":	"jpg"
		}
	},
	"port_J3":	{
		"name":	"stereo",
		"enabled":	true,
		"type":	"stereo",
		"api":	"hal3",
		"rotation":	0,
		"frame_rate":	30,
		"override_id":	-1,
		"auto_exposure_mode":	"mvcpa",
		"mv_cpa_filter_size":	2,
		"mv_cpa_exposure_cost":	0.75,
		"mv_cpa_gain_cost":	0.25,
		"mv_cpa_en_histogram":	true,
		"preview":	{
			"enabled":	true,
			"width":	1280,
			"height":	480,
			"format":	"nv21"
		}
	},
	"port_J4":	{
		"name":	"tracking",
		"enabled":	true,
		"type":	"tracking",
		"api":	"hal3",
		"rotation":	0,
		"frame_rate":	30,
		"override_id":	-1,
		"auto_exposure_mode":	"mvcpa",
		"manual_gain":	1000,
		"mv_cpa_filter_size":	2,
		"mv_cpa_exposure_cost":	0.75,
		"mv_cpa_gain_cost":	0.25,
		"mv_cpa_en_histogram":	true,
		"preview":	{
			"enabled":	true,
			"width":	640,
			"height":	480,
			"format":	"raw8"
		}
	}
}

Which physical configuration is this for?

1) 200_quad_2S_pack		     4) voxlcam_upside_down_tracking_cam
2) 230_quad_3S_pack		     5) voxl_230_3s_quad_secondary_imu
3) voxlcam_upright_tracking_cam
#? 4
reloading systemd services
stopping imu_app

the next step is static IMU calibration
Make sure the quadcopter or VOXL-CAM is flat/upright (roll/pitch=0)
be patient, this will take 20-30 seconds
PRESS ENTER to start static IMU calibration

Starting SNAV: Warning: snav_dronecontroller.service changed on disk. Run 'systemctl daemon-reload' to reload units.
Done
FastRPC call to update data failed 

Detected likely failure in SN. Ensure it is running and attempt calibration call again.