Voxl Vision Hub - Follow tag maneuver does not operate as expected

[Hector Gutierrez]

Hello - The Voxl-Vision-Hub - Follow tag maneuver does not operate as expected on Startling 2. Background information:

• voxl-vision-hub has been built and deployed on Startling 2
• VIO works well and IMU has been calibrated - Drone can arm and fly as expected on Position mode
• Figure-8 maneuver works well when switching to offboard mode
• To test follow tag maneuver in offboard mode, the following preparations were done:

• /etc/modalai/voxl-tag-detector.conf was edited to select detector_0: "input_pipe": "tracking_front_misp_norm"
• the path to the lens calibration file was updated to the correct path
• run voxl-tag-detector on voxl2 works properly: the overlay on voxl portal shows correct tag detection in tracking tag overlay

• /etc/modalai/voxl-vision-hub.conf was changed to: "offboard_mode": "follow_tag",
  The tag to be used for the test "follow_tag_id": 0 corresponds to the 36h11 tag family. The tag is 15x15 cm.
  After all of the above, Starling 2 is armed in position mode and maneuvered to a distance of approx. 2.5 m in front of the tag.
  voxl-follow-tag is running on voxl2 terminal.
  Offboard mode is enganged.
  Instead of flying towards the tag, the drone yaws to the right and flies in a divergent trajectory away from the tag.
  Flight behavior has been tested several times and is always the same.
  Please advise on what can be wrong and what can be tested. Thanks.