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    IMU calibration failed on voxl-configure0-snav

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    • S
      shlee853
      last edited by

      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.

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