QVIO hard reset causing error with PX4 altitude for VIO

[Aaron Porter]

Hello,
I am having an issue with the QVIO service resetting periodically on my VOXL2. The I am not sure why this issue is occurring. I have the VOXL2 at a 90 degree roll which should explain the rpy_parent_to_child values. The Error can be seen when I run QVIO in the Voxl Terminal as seen below.

voxl2:/$ voxl-qvio-server
loading config file
=================================================================
imu_name:                         imu_apps
cam_name:                         tracking
lens_cal_path:                    /data/modalai/opencv_tracking_intrinsics.yml
cam_extrinsics_name:              tracking
use_second_cam_if_stereo:         0
odr_hz:                           30.000
use_camera_height_bootstrap:      1
camera_height_off_ground_m:        0.085
enable_init_while_moving:         0
cam_imu_timeshift_s:              -0.002
cam_imu_timeshift_s_uncertainty:   0.001
T_cam_wrt_imu_uncertainty:         0.001  0.001  0.001
R_cam_to_imu_uncertainty:          0.005  0.005  0.005
accl_fsr_ms2:                     156.000
gyro_fsr_rad:                     34.000
accl_noise_std_dev:                0.316
gyro_noise_std_dev:                0.010
cam_noise_std_dev:                100.000
min_std_pixel_noise:               0.500
fail_high_pixel_noise_points:      1.665
limited_imu_bw_trigger:           25.000
gps_imu_time_alignment_s:          0.000
T_gps_wrt_imu:                     0.000  0.000  0.000
enable_mapping:                   1
enable_gps_vel:                   0
auto-reset params:
en_auto_reset:                    1
auto_reset_max_velocity:          10.000
auto_reset_max_v_cov_instant:      0.100
auto_reset_max_v_cov:              0.010
auto_reset_max_v_cov_timeout_s:    0.500
auto_reset_min_features:          3
auto_reset_min_feature_timeout_s:  1.000
standby params:
en_standby_mode:                  1
standby_skip_frames:              1
=================================================================
existing instance of qvio-server found, attempting to stop it
setting scheduler
INFO: set FIFO priority successfully!
loading extrinsics config file
#0:
    parent:                imu_apps
    child:                 tracking
    T_child_wrt_parent:    0.063   0.022  -0.020 
    RPY_parent_to_child:  45.0    90.0   180.0  
    R_child_to_parent:    -0.000  -0.000   1.000 
                          -0.707  -0.707  -0.000 
                           0.707  -0.707   0.000 
tbc:   0.063  0.022 -0.020
ombc:  2.504 -1.037  2.504 (axis angle)
ombc: 45.000 90.000 180.000 (RPY deg)
loading /data/modalai/opencv_tracking_intrinsics.yml
using fisheye camera intrinsics:
distortion: -0.018669 0.006158 0.000000 0.000000
focal lengths: 286.505106 287.452901
principle points: 318.695777 231.862595
waiting for imu
waiting for cam
connected to imu server
waiting for cpu_monitor
connected to camera server
Camera processing thread is now locked to the following cores: 7
client "voxl-portal0" connected to overlay
Client requested hard reset
Client requested hard reset
Client requested hard reset
Client requested hard reset
Client requested hard reset

Thank you for your time,
Aaron

[Aaron Porter]

So the issue seems to be that VOXL-vision-hub is requesting that QVIO be hard reset. I am not 100% sure why, the extrinsics file should be setup to a voxl that is rotated 90 degrees, VOXL-vision-hub however is asking tor a hard reset.

[afdrus]

@Aaron-Porter I am facing the same issue, is it solved?