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    Drone losing position / crashing in Offboard mode

    GPS-denied Navigation (VIO)
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    • J
      Jetson Nano @Jetson Nano
      last edited by Jetson Nano 11 Jun 2024, 14:00 11 Jun 2024, 13:43

      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.

      E 1 Reply Last reply 11 Jun 2024, 15:29 Reply Quote 0
      • E
        Eric Katzfey ModalAI Team @Jetson Nano
        last edited by 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.

        J 1 Reply Last reply 17 Jun 2024, 05:03 Reply Quote 0
        • J
          Jetson Nano @Eric Katzfey
          last edited by 17 Jun 2024, 05:03

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

          E 1 Reply Last reply 17 Jun 2024, 14:29 Reply Quote 0
          • E
            Eric Katzfey ModalAI Team @Jetson Nano
            last edited by 17 Jun 2024, 14:29

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

            J 1 Reply Last reply 17 Jun 2024, 17:49 Reply Quote 0
            • J
              Jetson Nano @Eric Katzfey
              last edited by 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.

              E 1 Reply Last reply 17 Jun 2024, 18:09 Reply Quote 0
              • E
                Eric Katzfey ModalAI Team @Jetson Nano
                last edited by 17 Jun 2024, 18:09

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

                J 1 Reply Last reply 18 Jun 2024, 08:47 Reply Quote 0
                • J
                  Jetson Nano @Eric Katzfey
                  last edited by 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.

                  E 1 Reply Last reply 18 Jun 2024, 18:05 Reply Quote 0
                  • E
                    Eric Katzfey ModalAI Team @Jetson Nano
                    last edited by 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.

                    J 1 Reply Last reply 19 Jun 2024, 06:20 Reply Quote 0
                    • J
                      Jetson Nano @Eric Katzfey
                      last edited by 19 Jun 2024, 06:20

                      @Eric-Katzfey How do I setup that?

                      E 1 Reply Last reply 19 Jun 2024, 14:55 Reply Quote 0
                      • E
                        Eric Katzfey ModalAI Team @Jetson Nano
                        last edited by 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

                        J 1 Reply Last reply 19 Jun 2024, 14:56 Reply Quote 0
                        • J
                          Jetson Nano @Eric Katzfey
                          last edited by 19 Jun 2024, 14:56

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

                          E 1 Reply Last reply 19 Jun 2024, 15:28 Reply Quote 0
                          • E
                            Eric Katzfey ModalAI Team @Jetson Nano
                            last edited by 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.

                            J 1 Reply Last reply 24 Jun 2024, 05:37 Reply Quote 0
                            • J
                              Jetson Nano @Eric Katzfey
                              last edited by 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?

                              E 1 Reply Last reply 24 Jun 2024, 15:46 Reply Quote 0
                              • E
                                Eric Katzfey ModalAI Team @Jetson Nano
                                last edited by 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.

                                J 1 Reply Last reply 25 Jun 2024, 06:52 Reply Quote 0
                                • J
                                  Jetson Nano @Eric Katzfey
                                  last edited by 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
                                  from AP msgid:  30 sysid:  1 compid:  1
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                                  from AP msgid: 141 sysid:  1 compid:  1
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                                  from AP msgid: 12901 sysid:  1 compid:  1
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                                  from AP msgid:   1 sysid:  1 compid:  1
                                  from AP msgid: 380 sysid:  1 compid:  1
                                  from AP msgid:   8 sysid:  1 compid:  1
                                  from AP msgid:  30 sysid:  1 compid:  1
                                  from AP msgid:   0 sysid:  1 compid:  1
                                  from AP msgid:  31 sysid:  1 compid:  1
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                                  from AP msgid:  30 sysid:  1 compid:  1
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                                  from AP msgid: 141 sysid:  1 compid:  1
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                                  from AP msgid: 12901 sysid:  1 compid:  1
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                                  J 1 Reply Last reply 26 Jun 2024, 07:08 Reply Quote 0
                                  • J
                                    Jetson Nano @Jetson Nano
                                    last edited by Jetson Nano 26 Jun 2024, 07:19 26 Jun 2024, 07:08

                                    @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

                                    J 1 Reply Last reply 26 Jun 2024, 07:29 Reply Quote 0
                                    • J
                                      Jetson Nano @Jetson Nano
                                      last edited by 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
                                      

                                      56d52bb8-1a8c-40ef-ae11-d80bdf51e74e-image.png

                                      E 1 Reply Last reply 26 Jun 2024, 15:13 Reply Quote 0
                                      • E
                                        Eric Katzfey ModalAI Team @Jetson Nano
                                        last edited by 26 Jun 2024, 15:13

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

                                        J 1 Reply Last reply 27 Jun 2024, 06:13 Reply Quote 0
                                        • J
                                          Jetson Nano @Eric Katzfey
                                          last edited by 27 Jun 2024, 06:13

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

                                          J 1 Reply Last reply 2 Jul 2024, 04:51 Reply Quote 0
                                          • J
                                            Jetson Nano @Jetson Nano
                                            last edited by 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

                                            J 1 Reply Last reply 2 Jul 2024, 12:53 Reply Quote 0
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