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    Drone losing position / crashing in Offboard mode

    GPS-denied Navigation (VIO)
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    • Jetson NanoJ
      Jetson Nano @Jetson Nano
      last edited by 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.

      Eric KatzfeyE 1 Reply Last reply Reply Quote 0
      • Eric KatzfeyE
        Eric Katzfey ModalAI Team @Jetson Nano
        last edited by

        @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 NanoJ 1 Reply Last reply Reply Quote 0
        • Jetson NanoJ
          Jetson Nano @Eric Katzfey
          last edited by

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

          Eric KatzfeyE 1 Reply Last reply Reply Quote 0
          • Eric KatzfeyE
            Eric Katzfey ModalAI Team @Jetson Nano
            last edited by

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

            Jetson NanoJ 1 Reply Last reply Reply Quote 0
            • Jetson NanoJ
              Jetson Nano @Eric Katzfey
              last edited by

              @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 KatzfeyE 1 Reply Last reply Reply Quote 0
              • Eric KatzfeyE
                Eric Katzfey ModalAI Team @Jetson Nano
                last edited by

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

                Jetson NanoJ 1 Reply Last reply Reply Quote 0
                • Jetson NanoJ
                  Jetson Nano @Eric Katzfey
                  last edited by

                  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 KatzfeyE 1 Reply Last reply Reply Quote 0
                  • Eric KatzfeyE
                    Eric Katzfey ModalAI Team @Jetson Nano
                    last edited by

                    @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 NanoJ 1 Reply Last reply Reply Quote 0
                    • Jetson NanoJ
                      Jetson Nano @Eric Katzfey
                      last edited by

                      @Eric-Katzfey How do I setup that?

                      Eric KatzfeyE 1 Reply Last reply Reply Quote 0
                      • Eric KatzfeyE
                        Eric Katzfey ModalAI Team @Jetson Nano
                        last edited by

                        @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 NanoJ 1 Reply Last reply Reply Quote 0
                        • Jetson NanoJ
                          Jetson Nano @Eric Katzfey
                          last edited by

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

                          Eric KatzfeyE 1 Reply Last reply Reply Quote 0
                          • Eric KatzfeyE
                            Eric Katzfey ModalAI Team @Jetson Nano
                            last edited by

                            @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 NanoJ 1 Reply Last reply Reply Quote 0
                            • Jetson NanoJ
                              Jetson Nano @Eric Katzfey
                              last edited by

                              @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 KatzfeyE 1 Reply Last reply Reply Quote 0
                              • Eric KatzfeyE
                                Eric Katzfey ModalAI Team @Jetson Nano
                                last edited by

                                @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 NanoJ 1 Reply Last reply Reply Quote 0
                                • Jetson NanoJ
                                  Jetson Nano @Eric Katzfey
                                  last edited by

                                  @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
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from AP msgid:  32 sysid:  1 compid:  1
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from AP msgid:  30 sysid:  1 compid:  1
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from AP msgid:  30 sysid:  1 compid:  1
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from AP msgid:  30 sysid:  1 compid:  1
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from AP msgid:  74 sysid:  1 compid:  1
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from AP msgid: 245 sysid:  1 compid:  1
from AP msgid:  32 sysid:  1 compid:  1
from AP msgid: 12901 sysid:  1 compid:  1
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                                  Jetson NanoJ 1 Reply Last reply Reply Quote 0
                                  • Jetson NanoJ
                                    Jetson Nano @Jetson Nano
                                    last edited by Jetson Nano

                                    @Eric-Katzfey when I do

                                    voxl-inspect-mavlink mavlink_onboard

                                    I am getting

                                    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

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

                                    Jetson NanoJ 1 Reply Last reply Reply Quote 0
                                    • Jetson NanoJ
                                      Jetson Nano @Jetson Nano
                                      last edited by

                                      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

                                      Eric KatzfeyE 1 Reply Last reply Reply Quote 0
                                      • Eric KatzfeyE
                                        Eric Katzfey ModalAI Team @Jetson Nano
                                        last edited by

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

                                        Jetson NanoJ 1 Reply Last reply Reply Quote 0
                                        • Jetson NanoJ
                                          Jetson Nano @Eric Katzfey
                                          last edited by

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

                                          Jetson NanoJ 1 Reply Last reply Reply Quote 0
                                          • Jetson NanoJ
                                            Jetson Nano @Jetson Nano
                                            last edited by

                                            @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

                                            Jetson NanoJ 1 Reply Last reply Reply Quote 0
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