IMU calibration failed on voxl-configure0-snav

shlee853

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?

200_quad_2S_pack 4) voxlcam_upside_down_tracking_cam
230_quad_3S_pack 5) voxl_230_3s_quad_secondary_imu
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.