# Drone losing position / crashing in Offboard mode Source: https://forum.modalai.com/topic/3528/drone-losing-position-crashing-in-offboard-mode Category: Autonomy: VIO, Mapping and Navigation (https://forum.modalai.com/category/19/autonomy-vio-mapping-and-navigation) Tags: vio Posted: 2024-06-06 13:10:32 UTC by Jetson Nano Replies: 34 · Views: 8680 ## Jetson Nano · 2024-06-06 13:10:32 UTC Hello, I am trying to run GPS denied navigation using VIO. My hardware setup is **Flight Controller:** CubeOrange **PX4 version: v1.14.3** (Stable) **Companion Computer:** VOXL 2 I am trying to use offbaord mode and do navigation, but the problem I am facing is, whenever I switch to offboard, the drone crashes, and it is always in only one direction. It always tilts to the rear left of the drone and falls down. Initially I used an optical flow sensor for position hold, later I tried position hold only with external vision and position hold is very good, I can navigate seamlessly around using RC in position hold only with external vision, I tried fusing both EV and OF, position hold was good, but the offboard problem is there even with both EV and OF fused together. I have attached the logs below for your reference. https://review.px4.io/plot_app?log=e4c9f0f3-df81-4d49-94f0-a9d5b06037c1 *I have switched to offboard mode twice, one is near 6:54:00 and another time is around 7:11:00 for the above log.* https://review.px4.io/plot_app?log=52346209-bb6a-46c0-9eb4-426c1c93c620 *For this log, I have switched to offboard at 1:30:00* @Eric-Katzfey @James-Strawson Can you please help me with this? Thank you. I have already asked in the PX4 forum, and they said that the setpoint is set to 0,0,0. How do I change it so that the setpoint updates with current position and is not 0,0,0? **When I do listener for setpoint in mavlink console this is what I get** nsh> listener vehicle_local_position_setpoint TOPIC: vehicle_local_position_setpoint vehicle_local_position_setpoint timestamp: 299285198 (0.006456 seconds ago) x: nan y: nan z: nan vx: nan vy: nan vz: nan acceleration: [0.00000, 0.00000, 100.00000] thrust: [-0.00000, -0.00000, -0.00100] yaw: -1.56113 yawspeed: 0.00000 ## Reply by Eric Katzfey (ModalAI staff) · 2024-06-06 16:41:49 UTC @Jetson-Nano What is `figure_eight_move_home` set to in your configuration file for voxl-vision-hub (`/etc/modalai/voxl-vision-hub.conf`)? ## Reply by Jetson Nano · 2024-06-07 06:55:07 UTC (in reply to Eric Katzfey) @Eric-Katzfey It is set to true. ![Screenshot 2024-06-07 at 12.24.02 PM.png](https://forum.modalai.com/assets/uploads/files/1717743290161-screenshot-2024-06-07-at-12.24.02-pm.png) I have a starling and have verified the parameter with that system also. ## Reply by Eric Katzfey (ModalAI staff) · 2024-06-07 14:06:44 UTC (in reply to Jetson Nano) @Jetson-Nano So the figure eight works fine on the Starling? But not on the drone with the Cube Orange using VOXL 2 as a companion computer? What if you takeoff straight up, hover at about 7 or 8 feet altitude, then go into offboard mode. Does it still do the same thing? Is the drone with the Cube Orange much larger than the Starling? ## Reply by Jetson Nano · 2024-06-08 05:35:36 UTC (in reply to Eric Katzfey) @Eric-Katzfey The test I'll do and let you know, but the drone with cube orange is bigger than Starling and the extrinsics for the drone has been changed with respect to the modified build's CG. ## Reply by Jetson Nano · 2024-06-11 13:43:44 UTC (in reply to Jetson Nano) Hey @Eric-Katzfey , I tested it in all directions and the drone is going towards the home, but not to 0,0,1.5 but it's going down to 0,0,0. Wherever I take off and navigate and then switch to offboard, it'll try to go to 0,0,0. I tested it with 1m and 2m altitude and still the same. I also tested it right above the origin, it went straight down. ## Reply by Eric Katzfey (ModalAI staff) · 2024-06-11 15:29:21 UTC (in reply to Jetson Nano) @Jetson-Nano I'm not sure why it would do that on Cube Orange. It almost seems like it is doing RTL instead of starting the figure eight. The Starling is running our fork of PX4, not standard PX4. You could build our fork and try it on the Cube Orange to see if that makes a difference. ## Reply by Jetson Nano · 2024-06-17 05:03:24 UTC (in reply to Eric Katzfey) @Eric-Katzfey Can I download the PX4 which is built for VOXL and upload it in Cube? ## Reply by Eric Katzfey (ModalAI staff) · 2024-06-17 14:29:13 UTC (in reply to Jetson Nano) @Jetson-Nano No, you would need to download the source and build it yourself. ## Reply by Jetson Nano · 2024-06-17 17:49:02 UTC (in reply to Eric Katzfey) @Eric-Katzfey I tried using the modalai forked repo in the cube and this is the outcome, when I switch to offboard it is still going to home but not like crashing how it was previously, but goes near home and hovers very close to the ground, and I get autopilot disengaged and switches to land mode and lands. ## Reply by Eric Katzfey (ModalAI staff) · 2024-06-17 18:09:03 UTC (in reply to Jetson Nano) @Jetson-Nano Interesting. Can you share the log from that flight? ## Reply by Jetson Nano · 2024-06-18 08:47:56 UTC (in reply to Eric Katzfey) Hey @Eric-Katzfey, here are the logs for the flight test. https://review.px4.io/plot_app?log=9b6a7c2c-2bf4-43f7-8182-ac3efe2b4655 *In this flight test, I set the **offboard mode to trajectory** and did the flight test* https://review.px4.io/plot_app?log=65f0b03a-11a5-409e-b2ca-1fe2a36cc088 *In this flight test, I changed the **offboard mode to figure_eight** and still the result is same, it goes very close to ground at 0,0,0 and hovers there.* ## Reply by Eric Katzfey (ModalAI staff) · 2024-06-18 18:05:44 UTC (in reply to Jetson Nano) @Jetson-Nano I'm guessing that you don't have an odometry mavlink stream setup so the Cube Orange isn't sending out vehicle odometry mavlink packets that the offboard mode needs. ## Reply by Jetson Nano · 2024-06-19 06:20:13 UTC (in reply to Eric Katzfey) @Eric-Katzfey How do I setup that? ## Reply by Eric Katzfey (ModalAI staff) · 2024-06-19 14:55:35 UTC (in reply to Jetson Nano) @Jetson-Nano I would recommend reading through the PX4 documentataion on Mavlink messaging. It discusses how to enable streams. https://docs.px4.io/v1.14/en/middleware/mavlink.html ## Reply by Jetson Nano · 2024-06-19 14:56:22 UTC (in reply to Eric Katzfey) Thank you @Eric-Katzfey , I'll check and get back if needed anything. ## Reply by Eric Katzfey (ModalAI staff) · 2024-06-19 15:28:34 UTC (in reply to Jetson Nano) @Jetson-Nano The command would be something like `mavlink stream -r 30 -s ODOMETRY -u 14556` and would be added to one of the startup files. ## Reply by Jetson Nano · 2024-06-24 05:37:41 UTC (in reply to Eric Katzfey) @Eric-Katzfey The documentation explains how to send custom mavlink messages, but odometry is not a custom message and isn't it streamed by default in your forked PX4? ## Reply by Eric Katzfey (ModalAI staff) · 2024-06-24 15:46:23 UTC (in reply to Jetson Nano) @Jetson-Nano The command is the same regardless of whether the message is custom or not. Another thing you can do is enable some of the debug flags available with `voxl-vision-hub` to see things like which mavlink messages it is receiving and which mavlink messages it is sending out. There are a variety of flags to choose from and that would help to figure out what is going wrong. ## Reply by Jetson Nano · 2024-06-25 06:52:37 UTC (in reply to Eric Katzfey) @Eric-Katzfey This is what I am getting when I run vision hub with debug ``` voxl_visionion-hub -d Enabling recv debugging for localhost UDP port from ROS loading our own config file ================================================================= Parameters as loaded from config file: config_file_version: 1 MAVROS / MAVSDK en_localhost_mavlink_udp 0 localhost_udp_port_number: 14551 VIO en_vio: 1 vio_pipe: qvio secondary_vio_pipe: ov en_reset_vio_if_initialized_inverted: 1 vio_warmup_s: 3.000000 send_odom_while_failed: 1 MISC FEATURES horizon_cal_tolerance: 0.500000 OFFBOARD MODE offboard_mode: trajectory follow_tag_id: 0 figure_eight_move_home: 1 robot_radius: 0.300000 collision_sampling_dt: 0.100000 max_lookahead_distance: 1.000000 FIXED FRAME RELOCALIZATION en_tag_fixed_frame: 0 fixed_frame_filter_len: 5 en_transform_mavlink_pos_setpoints_from_fixed_frame:0 COLLISION PREVENTION (VOA) en_voa: 1 voa_upper_bound_m: -0.150000 voa_lower_bound_m: 0.150000 voa_memory_s: 1.000000 voa_max_pc_per_fusion: 100 voa_pie_min_dist_m: 0.250000 voa_pie_max_dist_m: 20.000000 voa_pie_under_trim_m: 1.000000 voa_pie_threshold: 3 voa_pie_slices: 36 voa_pie_bin_depth_m: 0.150000 voa_send_rate_hz: 20.000000 voa_input #0 enabled: 1 type: point_cloud input_pipe: dfs_point_cloud frame: stereo_l max_depth: 8.000000 min_depth: 0.300000 cell_size: 0.080000 threshold: 4 x_fov_deg: 68.000000 y_fov_deg: 56.000000 conf_cutoff: 0 voa_input #1 enabled: 1 type: point_cloud input_pipe: stereo_front_pc frame: stereo_front_l max_depth: 8.000000 min_depth: 0.300000 cell_size: 0.080000 threshold: 4 x_fov_deg: 68.000000 y_fov_deg: 56.000000 conf_cutoff: 0 voa_input #2 enabled: 1 type: point_cloud input_pipe: stereo_rear_pc frame: stereo_rear_l max_depth: 8.000000 min_depth: 0.300000 cell_size: 0.080000 threshold: 4 x_fov_deg: 68.000000 y_fov_deg: 56.000000 conf_cutoff: 0 voa_input #3 enabled: 1 type: tof input_pipe: tof frame: tof max_depth: 6.000000 min_depth: 0.150000 cell_size: 0.080000 threshold: 3 x_fov_deg: 106.500000 y_fov_deg: 85.099998 conf_cutoff: 125 voa_input #4 enabled: 1 type: rangefinder input_pipe: rangefinders frame: body max_depth: 8.000000 min_depth: 0.300000 cell_size: 0.080000 threshold: 4 x_fov_deg: 68.000000 y_fov_deg: 56.000000 conf_cutoff: 0 ================================================================= loading extrinsics config file loading horizon cal file existing instance of voxl-vision-hub found, attempting to stop it starting geometry module starting autopilot monitor starting mavlink IO Waiting to connect to voxl-mavlink-server Connected to voxl-mavlink-server starting fixed pose input starting vio manager Connected to VIO pipe: qvio Geometry module updating to use imu: imu_apps for VIO new T imu wrt body: 0.0907 -0.0060 -0.0295 new R imu to body: 1.0000 -0.0000 0.0000 0.0000 1.0000 -0.0000 0.0000 0.0000 1.0000 done updating transforms to use imu: imu_apps from AP msgid: 30 sysid: 1 compid: 1 Detected Autopilot Mavlink SYSID 1 starting tag manager starting voa manager starting horizon cal module Connected to VOA input pipe: tof starting offboard trajectory Init complete Trajectory Monitor connected to voa pointcloud from AP msgid: 0 sysid: 1 compid: 1 requesting autopilot_version from AP msgid: 148 sysid: 1 compid: 1 Detected autopilot version: 1.14.0 from AP msgid: 77 sysid: 1 compid: 1 from AP msgid: 31 sysid: 1 compid: 1 from AP msgid: 30 sysid: 1 compid: 1 from AP msgid: 253 sysid: 1 compid: 1 from AP msgid: 410 sysid: 1 compid: 1 from AP msgid: 410 sysid: 1 compid: 1 from AP msgid: 410 sysid: 1 compid: 1 from AP msgid: 410 sysid: 1 compid: 1 from AP msgid: 410 sysid: 1 compid: 1 from AP msgid: 410 sysid: 1 compid: 1 from AP msgid: 410 sysid: 1 compid: 1 from AP msgid: 410 sysid: 1 compid: 1 from AP msgid: 410 sysid: 1 compid: 1 from AP msgid: 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AP msgid: 31 sysid: 1 compid: 1 from AP msgid: 30 sysid: 1 compid: 1 ``` ## Reply by Jetson Nano · 2024-06-26 07:08:23 UTC (in reply to Jetson Nano) @Eric-Katzfey when I do ``` voxl-inspect-mavlink mavlink_onboard ``` I am getting ![98df2a0c-9b4a-4257-b1a0-6ca7bc250b33-image.png](https://forum.modalai.com/assets/uploads/files/1719384400819-98df2a0c-9b4a-4257-b1a0-6ca7bc250b33-image.png) and in mavlink console when I stream Odometry message as you said I am getting no output ![430e0c62-e971-4d5f-983f-7861e3678120-image.png](https://forum.modalai.com/assets/uploads/files/1719385689986-430e0c62-e971-4d5f-983f-7861e3678120-image.png) when I used -d instead of -u it shows device not running. I tried with different ports ## Reply by Jetson Nano · 2024-06-26 07:29:02 UTC (in reply to Jetson Nano) Hey @Eric-Katzfey , I think I solved it. I got the odometry stream to VOXL2 from Cube. I had to run ``` mavlink stream -r 30 -s ODOMETRY -d /dev/ttyS0 ``` after this I got odometry stream on the ``` voxl-inspect-mavlink mavlink_onboard ``` ![56d52bb8-1a8c-40ef-ae11-d80bdf51e74e-image.png](https://forum.modalai.com/assets/uploads/files/1719386871819-56d52bb8-1a8c-40ef-ae11-d80bdf51e74e-image.png) ## Reply by Eric Katzfey (ModalAI staff) · 2024-06-26 15:13:36 UTC (in reply to Jetson Nano) @Jetson-Nano Great! And is that now allowing you to run the figure 8? ## Reply by Jetson Nano · 2024-06-27 06:13:02 UTC (in reply to Eric Katzfey) @Eric-Katzfey I haven't done the flight test. I'll do the flight test and get back to you. ## Reply by Jetson Nano · 2024-07-02 04:51:55 UTC (in reply to Jetson Nano) @Eric-Katzfey , I did the flight test and it works fine. Thank you. But there is a problem, when I am checked 1st time it worked fine, later after a reboot and once again I ran the Mavlink Odometry stream, the terminal was lagging. The terminal with the output of voxl-inspect-mavlink mavlink_onboard this is lagging. The Odometry Hz was somewhere around 5 - 10, all the output in the terminal was lagging, so I though it was some WiFi issue and again tested offboard mode, but this time the drone went back to home. So I rebooted the system and again ran the mavlink stream and waited for sometime until the lag in the voxl terminal is not there anymore, then when I tested offboard it was fine. I tried both figure eight and trajectory, both worked fine. I will attach the logs, can you please tell what might have caused the lag? https://logs.px4.io/plot_app?log=93fb987f-c326-4d5d-89bb-2771bcacb3fc https://logs.px4.io/plot_app?log=593bdb7b-7ce5-45f5-b183-2d0914015162 https://logs.px4.io/plot_app?log=3d8e8bd4-ec6e-4bcf-beea-741dff891ff9 https://logs.px4.io/plot_app?log=d33b6610-af39-4006-b90e-d1fdaad75da7 https://logs.px4.io/plot_app?log=b1ac6a04-0e1a-4049-bc27-dfe9a25224a8 ## Reply by Jetson Nano · 2024-07-02 12:53:31 UTC (in reply to Jetson Nano) And I have one more question @Eric-Katzfey , I have to start the mavlink stream everytime. Is there a way to start the mavlink stream as soon the system is powered on? ## Reply by Eric Katzfey (ModalAI staff) · 2024-07-02 17:08:49 UTC (in reply to Jetson Nano) @Jetson-Nano Yes, there is a way to do that. Probably best to consult the PX4 documentation or ask on the PX4 forum for best way to do that on a Cube Orange. ## Reply by Jetson Nano · 2024-07-03 04:11:37 UTC (in reply to Eric Katzfey) @Eric-Katzfey What about the previous question I asked? ## Reply by Eric Katzfey (ModalAI staff) · 2024-07-03 17:08:42 UTC (in reply to Jetson Nano) @Jetson-Nano I really don't know what would cause that lag. You say it goes away if you wait awhile. How long do you have to wait for that to happen? And what is the baud rate of the UART that connects the CUBE Orange to VOXL 2? It's possible that the UART has too much data going over it and needs a higher baudrate. ## Reply by Jetson Nano · 2024-07-04 04:01:12 UTC (in reply to Eric Katzfey) @Eric-Katzfey The baudrate is 921600, sometimes I'll have to wait for more than 5 minutes and sometimes within seconds it will be ready to fly with required Hz ## Reply by Eric Katzfey (ModalAI staff) · 2024-07-05 16:24:24 UTC (in reply to Jetson Nano) @Jetson-Nano Part of the startup sequence when running with QGC or MP is to upload a full set of parameters. There are hundreds of parameters and this can take quite a while to complete. While this is happening the serial link is inundated with PARAM_VALUE mavlink messages. Once that has been completed then the link will have much less traffic. While it is laggy you can look at the mavlink console and see if it is receiving those PARAM_VALUE messages. That is a possible reason. ## Reply by Jetson Nano · 2024-11-18 17:03:03 UTC (in reply to Eric Katzfey) @Eric-Katzfey I'm currently integrating VOXL2 with Flight Core V2. **PX4 version: v1.14.3** (*from modalAI fork*) I am trying to use offboard mode and do `figure-eight`, but the problem I'm facing is, whenever I switch to offboard, the drone sometimes moves randomly. Once I reboot the FC once and start flying from same position, and then switching to `offboard`, I observe that the drone does figure 8, but loses height sequentially and drifts over the ground and crashes after a few cycles. For height estimation, I rely on using a Rangefinder. Also, when I run, ``` voxl-inspect-mavlink mavlink_onboard ``` I'm not able to observe, the #331 ODOMETRY message. ![785e6c2e-8a6b-4ff6-807a-2f842ec8073f-image.png](https://forum.modalai.com/assets/uploads/files/1731949367125-785e6c2e-8a6b-4ff6-807a-2f842ec8073f-image.png) ## Reply by Eric Katzfey (ModalAI staff) · 2024-11-19 16:44:11 UTC (in reply to Jetson Nano) @Jetson-Nano What happens if you don't use the rangefinder? If VIO is working then you get the height from that. ## Reply by Jetson Nano · 2024-11-22 15:53:13 UTC (in reply to Eric Katzfey) @Eric-Katzfey Thanks for reverting back. I had tried earlier disabling the Rangefinder and relying only on VIO. VIO works fine in feature rich environment, when it crosses low-feature environment, there is a random motion of system which could observed serving the main reason for using external Rangefinder. Also, height estimation goes off even if the drone does `figure-eight` within offboard, height estimation goes off. Is there any way I can view the #331 ODOMETRY message being pushed from FC to Compute? ## Reply by Jetson Nano · 2024-11-25 14:14:14 UTC (in reply to Jetson Nano) Hey @Eric-Katzfey I was able to solve it. I was able to shift the drone to `offboard-mode`, the drone doesn't drift away. In `voxl-vision-hub`, I have the set the parameter to `figure_eight`. I'm getting the stream to VOXL2 from Flight Core v2. I had to run it on 2 different ports. `mavlink stream -r 30 -s ODOMETRY -d /dev/ttyS4 ` `mavlink stream -r 30 -s ODOMETRY -d /dev/ttyS6 ` But I'm getting the #331 odometry message when using only `ttyS6` port. ![Screenshot from 2024-11-25 18-52-49.png](https://forum.modalai.com/assets/uploads/files/1732544018893-screenshot-from-2024-11-25-18-52-49.png) Now the drone is able to `figure_eight` loop without loosing height estimates.