QVIO hard reset causing error with PX4 altitude for VIO
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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 resetThank you for your time,
Aaron -
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.
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@Aaron-Porter I am facing the same issue, is it solved?
