imu_apps seems to be publishing in bursts
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Hi! I'm working with a ModalAI Sentinel right now equipped with the VOXL2, and I've noticed after running a few test flights that the recorded imu_apps data is very patchy, with bursts of messages followed by entire seconds of silence. This puts alot of stress on my VIO. Am I missing something or is this a known issue, and if so how do I fix it?
my voxl-imu-server.conf params are the default.
Thank you in advance!
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Hi Tanguy,
That sounds like the CPU is being overloaded. Which version of SDK are you running (
voxl-version
) and can you show the output ofvoxl-inspect-cpu
when you are seeing this issue? -
@Moderator Hi! I'm using :
system-image: 1.5.5-M0054-14.1a-perf kernel: #1 SMP PREEMPT Fri Mar 24 00:48:55 UTC 2023 4.19.125 ------------------------------------------------------------------------------ hw version: M0054 ------------------------------------------------------------------------------ voxl-suite: 0.9.5 ------------------------------------------------------------------------------ Packages: Repo: http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-0.9/binary-arm64/ Last Updated: 2023-08-24 23:20:47
When experiencing the message dropout, this is the output of
voxl-inspect-cpu
: -
I've solved the problem by setting the
voxl-imu-server.conf
to"imu0_enable": true, "imu0_sample_rate_hz": 200, "imu0_lp_cutoff_freq_hz": 92, "imu0_rotate_common_frame": true, "imu0_fifo_poll_rate_hz": 200, ...
Tested on 2 different VOXL2 boards, this reduces the number of lost messages sequences from 60% to <0.5% of all messages. Information on why this is the case would be interesting, as it is stated here that the default config is optimized for VIO.
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@tanguy-sagere I wonder if you upgrade to SDK 1.0 if the issue resolves itself
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