Inconsistent VIO Pose

SMRazaRizvi

Problem: My Sentinel drone with VOXL SDK 1.0, is not giving me a correct VIO pose.

I recently upgraded my VOXL SDK to 1.0 on the Sentinel drone, and performed all the necessary calibrations, including the IMU calibration in QGC.
While everything else is set by default in the system image flashing, and the QVIO overlay appears to be detecting and tracking the features from the tracking camera, my VIO pose appears to be incorrect when I move the drone.

This is the behavior I detected on the VIO pose:

The VIO pose resets when I move the drone, so its not consistent
The values are not coherent with the actual movement. (I moved the drone 1m in +x axis, and the output pose was not reflecting this)

How should I solve this?

Moderator

@SMRazaRizvi that implies your extrinsic calibrations are incorrect. There should be default for Sentinel being used unless you modified the orientation of the sensors in some way

https://docs.modalai.com/configure-extrinsics/

SMRazaRizvi

@Moderator I am using the default extrinsics.

Apparently, that is the behavior when the drone is not flying. But when it is, the VIO seems to be working fine.

Is this the default behavior? if not, what should I change?

Moderator

@SMRazaRizvi of course the VIO pose should be correct when you move the drone. can you screen capture the qvio overlay to demonstrate your issue?