Drone losing position / crashing in Offboard mode
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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 2I 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.
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 -
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 2I 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.
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@Jetson-Nano What is
figure_eight_move_homeset to in your configuration file for voxl-vision-hub (/etc/modalai/voxl-vision-hub.conf)? -
@Jetson-Nano What is
figure_eight_move_homeset to in your configuration file for voxl-vision-hub (/etc/modalai/voxl-vision-hub.conf)?@Eric-Katzfey It is set to true.
I have a starling and have verified the parameter with that system also.
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@Eric-Katzfey It is set to true.
I have a starling and have verified the parameter with that system also.
@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?
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@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?
@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.
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@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.
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.
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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.
@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.
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@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.
@Eric-Katzfey Can I download the PX4 which is built for VOXL and upload it in Cube?
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@Eric-Katzfey Can I download the PX4 which is built for VOXL and upload it in Cube?
@Jetson-Nano No, you would need to download the source and build it yourself.
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@Jetson-Nano No, you would need to download the source and build it yourself.
@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.
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@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.
@Jetson-Nano Interesting. Can you share the log from that flight?
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@Jetson-Nano Interesting. Can you share the log from that flight?
Hey @Eric-Katzfey, here are the logs for the flight test.
In this flight test, I set the offboard mode to trajectory and did the flight test
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.
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Hey @Eric-Katzfey, here are the logs for the flight test.
In this flight test, I set the offboard mode to trajectory and did the flight test
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.
@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.
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@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.
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@Eric-Katzfey How do I setup that?
@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
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@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
Thank you @Eric-Katzfey , I'll check and get back if needed anything.
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Thank you @Eric-Katzfey , I'll check and get back if needed anything.
@Jetson-Nano The command would be something like
mavlink stream -r 30 -s ODOMETRY -u 14556and would be added to one of the startup files. -
@Jetson-Nano The command would be something like
mavlink stream -r 30 -s ODOMETRY -u 14556and would be added to one of the startup files.@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?
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@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?
@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-hubto 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 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-hubto 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.@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: 410 sysid: 1 compid: 1 from AP msgid: 410 sysid: 1 compid: 1 from AP msgid: 253 sysid: 1 compid: 1 from AP msgid: 30 sysid: 1 compid: 1 from AP msgid: 31 sysid: 1 compid: 1 from AP msgid: 253 sysid: 1 compid: 1 from AP msgid: 30 sysid: 1 compid: 1 from AP 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30 sysid: 1 compid: 1 from AP msgid: 31 sysid: 1 compid: 1 from AP msgid: 253 sysid: 1 compid: 1 from AP msgid: 141 sysid: 1 compid: 1 from AP msgid: 30 sysid: 1 compid: 1 from AP msgid: 245 sysid: 1 compid: 1 from AP msgid: 32 sysid: 1 compid: 1 from AP msgid: 12901 sysid: 1 compid: 1 from AP msgid: 29 sysid: 1 compid: 1 from AP msgid: 36 sysid: 1 compid: 1 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: 74 sysid: 1 compid: 1 from AP msgid: 30 sysid: 1 compid: 1 from AP msgid: 83 sysid: 1 compid: 1 from AP msgid: 31 sysid: 1 compid: 1 from AP msgid: 42 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 from AP msgid: 30 sysid: 1 compid: 1
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