Drone losing position / crashing in Offboard mode

Jetson Nano · 11 Jun 2024, 14:00

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.

Eric Katzfey · 11 Jun 2024, 15:29

@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.

Jetson Nano · 17 Jun 2024, 05:03

@Eric-Katzfey Can I download the PX4 which is built for VOXL and upload it in Cube?

Eric Katzfey · 17 Jun 2024, 14:29

@Jetson-Nano No, you would need to download the source and build it yourself.

Jetson Nano · 17 Jun 2024, 17:49

@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.

Eric Katzfey · 17 Jun 2024, 18:09

@Jetson-Nano Interesting. Can you share the log from that flight?

Jetson Nano · 18 Jun 2024, 08:47

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.

Eric Katzfey · 18 Jun 2024, 18:05

@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.

Jetson Nano · 19 Jun 2024, 06:20

@Eric-Katzfey How do I setup that?

Eric Katzfey · 19 Jun 2024, 14:55

@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

Jetson Nano · 19 Jun 2024, 14:56

Thank you @Eric-Katzfey , I'll check and get back if needed anything.

Eric Katzfey · 19 Jun 2024, 15:28

@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.

Jetson Nano · 24 Jun 2024, 05:37

@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?

Eric Katzfey · 24 Jun 2024, 15:46

@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.

Jetson Nano · 25 Jun 2024, 06:52

@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
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from AP msgid:  30 sysid:  1 compid:  1

Jetson Nano · 26 Jun 2024, 07:19

@Eric-Katzfey when I do

voxl-inspect-mavlink mavlink_onboard

I am getting

and in mavlink console when I stream Odometry message as you said I am getting no output

when I used -d instead of -u it shows device not running. I tried with different ports

Jetson Nano · 26 Jun 2024, 07:29

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

Eric Katzfey · 26 Jun 2024, 15:13

@Jetson-Nano Great! And is that now allowing you to run the figure 8?

Jetson Nano · 2 Jul 2024, 04:51

@Eric-Katzfey I haven't done the flight test. I'll do the flight test and get back to you.

Jetson Nano · 2 Jul 2024, 04:51

@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