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    Starling 2 not following navigation path

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    • A
      ApoorvThapliyal @greg_s
      last edited by

      Hey @greg_s,
      Can you post your voxl-logs and flight logs?

      Thanks

      G 1 Reply Last reply Reply Quote 0
      • G
        greg_s @ApoorvThapliyal
        last edited by greg_s

        Hello @ApoorvThapliyal,

        I put the log file here: log100.ulg on Filebin.net
        I also put the the output from voxl-vision-hub --debug_offboard suggested by @Cliff-Wong in another post in another upload here voxl-vision-hub-log.txt on Filebin.net.

        When I attempted the flight, the drone appeared to fly to the correct X and Z coordinates, but it was close to the floor and well below the correct Y coordinate.

        Here are a couple of picture of the map and projected route:
        plan1.jpg
        plan2.jpg

        And a couple of the map after the drone tried to navigate and ended up below the point:
        after_nav1.jpg
        after_nav2.jpg

        1 Reply Last reply Reply Quote 0
        • G
          greg_s
          last edited by

          For convenience I took out the section that has the trajectory from the voxl-vision-hub logs:

          commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
          commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
          commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
          commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
          commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
          commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
          commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
          commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
          commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
          commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
          commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
          commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
          commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
          commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
          commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
          commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
          commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
          commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
          commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
          commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
          commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
          commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
          commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
          commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
          commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
          commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
          commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
          commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
          commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
          commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
          commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
          commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
          commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
          commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
          commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
          commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
          commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
          commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
          commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
          commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
          commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
          commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
          commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
          commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
          commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
          commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
          commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
          commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
          commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
          commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
          commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
          commanding: XYZ -0.4 -0.2 -1.7 yaw: 0.3
          commanding: XYZ -0.4 -0.2 -1.7 yaw: 0.3
          commanding: XYZ -0.4 -0.2 -1.7 yaw: 0.3
          commanding: XYZ -0.4 -0.2 -1.7 yaw: 0.3
          commanding: XYZ -0.4 -0.2 -1.7 yaw: 0.3
          Received trajectory has duration 1.953539 seconds
          Received load and start command.
          commanding: XYZ -0.4 -0.2 -1.0 yaw: 0.7 V: 0.0 0.0 -0.0 A: 0.1 0.0 -0.0
          commanding: XYZ -0.4 -0.2 -1.0 yaw: 0.7 V: 0.0 0.0 -0.0 A: 0.2 0.2 -0.0
          commanding: XYZ -0.4 -0.2 -1.0 yaw: 0.7 V: 0.0 0.0 -0.0 A: 0.3 0.3 -0.0
          commanding: XYZ -0.4 -0.2 -1.0 yaw: 0.7 V: 0.0 0.0 -0.0 A: 0.5 0.5 -0.0
          commanding: XYZ -0.4 -0.2 -1.0 yaw: 0.7 V: 0.0 0.0 -0.0 A: 0.7 0.6 0.0
          commanding: XYZ -0.4 -0.2 -1.0 yaw: 0.7 V: 0.1 0.1 -0.0 A: 0.9 0.7 0.0
          commanding: XYZ -0.3 -0.2 -1.0 yaw: 0.7 V: 0.1 0.1 0.0 A: 1.0 0.9 0.0
          commanding: XYZ -0.3 -0.2 -1.0 yaw: 0.7 V: 0.1 0.1 0.0 A: 1.1 0.9 0.0
          commanding: XYZ -0.3 -0.2 -1.0 yaw: 0.7 V: 0.2 0.2 0.0 A: 1.1 1.0 0.0
          commanding: XYZ -0.3 -0.2 -1.0 yaw: 0.7 V: 0.2 0.2 0.0 A: 1.2 1.0 0.0
          commanding: XYZ -0.3 -0.2 -1.0 yaw: 0.7 V: 0.3 0.2 0.0 A: 1.2 1.0 0.0
          commanding: XYZ -0.3 -0.2 -1.0 yaw: 0.7 V: 0.3 0.3 0.0 A: 1.2 1.0 0.0
          commanding: XYZ -0.3 -0.1 -1.0 yaw: 0.7 V: 0.3 0.3 0.0 A: 1.2 1.0 0.0
          commanding: XYZ -0.3 -0.1 -1.0 yaw: 0.7 V: 0.4 0.3 0.0 A: 1.1 1.0 0.0
          commanding: XYZ -0.3 -0.1 -1.0 yaw: 0.7 V: 0.4 0.4 0.0 A: 1.1 1.0 0.0
          commanding: XYZ -0.3 -0.1 -1.0 yaw: 0.7 V: 0.4 0.4 0.0 A: 1.1 1.0 0.0
          Received trajectory has duration 1.452853 seconds
          Received insert command.
          commanding: XYZ -0.3 -0.1 -1.0 yaw: 0.7 V: 0.5 0.4 0.0 A: 1.1 0.9 0.0
          commanding: XYZ -0.2 -0.1 -1.0 yaw: 0.7 V: 0.5 0.4 0.0 A: 1.0 0.9 0.0
          commanding: XYZ -0.2 -0.1 -1.0 yaw: 0.7 V: 0.5 0.5 0.0 A: 1.0 0.9 0.0
          commanding: XYZ -0.2 -0.1 -1.0 yaw: 0.7 V: 0.6 0.5 0.0 A: 0.9 0.8 0.0
          commanding: XYZ -0.2 -0.0 -1.0 yaw: 0.7 V: 0.6 0.5 0.0 A: 0.8 0.7 0.1
          commanding: XYZ -0.2 -0.0 -1.0 yaw: 0.7 V: 0.6 0.6 0.0 A: 0.8 0.6 0.1
          commanding: XYZ -0.1 0.0 -1.0 yaw: 0.7 V: 0.7 0.6 0.0 A: 0.7 0.5 0.1
          commanding: XYZ -0.1 0.0 -1.0 yaw: 0.7 V: 0.7 0.6 0.0 A: 0.6 0.5 0.1
          commanding: XYZ -0.1 0.0 -1.0 yaw: 0.7 V: 0.7 0.6 0.0 A: 0.5 0.4 0.1
          commanding: XYZ -0.1 0.1 -1.0 yaw: 0.7 V: 0.7 0.6 0.0 A: 0.4 0.3 0.0
          commanding: XYZ -0.0 0.1 -1.0 yaw: 0.7 V: 0.7 0.6 0.0 A: 0.3 0.2 0.0
          commanding: XYZ -0.0 0.1 -1.0 yaw: 0.7 V: 0.7 0.6 0.0 A: 0.2 0.1 0.0
          commanding: XYZ 0.0 0.1 -1.0 yaw: 0.7 V: 0.7 0.6 0.0 A: 0.0 0.0 0.0
          Received trajectory has duration 0.510237 seconds
          Received insert command.
          commanding: XYZ 0.0 0.1 -1.0 yaw: 0.7 V: 0.7 0.6 0.0 A: -0.1 -0.1 0.0
          commanding: XYZ 0.1 0.2 -1.0 yaw: 0.7 V: 0.7 0.6 0.0 A: -0.2 -0.2 0.0
          commanding: XYZ 0.1 0.2 -1.0 yaw: 0.7 V: 0.6 0.5 0.0 A: -0.2 -0.2 0.0
          commanding: XYZ 0.1 0.2 -1.0 yaw: 0.7 V: 0.6 0.5 0.0 A: -0.3 -0.2 0.0
          commanding: XYZ 0.1 0.2 -1.0 yaw: 0.7 V: 0.6 0.5 0.0 A: -0.4 -0.3 -0.0
          commanding: XYZ 0.1 0.2 -1.0 yaw: 0.7 V: 0.6 0.5 0.0 A: -0.5 -0.4 -0.0
          commanding: XYZ 0.2 0.3 -1.0 yaw: 0.7 V: 0.6 0.5 0.0 A: -0.6 -0.5 -0.0
          commanding: XYZ 0.2 0.3 -1.0 yaw: 0.7 V: 0.6 0.5 0.0 A: -0.7 -0.6 -0.0
          commanding: XYZ 0.2 0.3 -1.0 yaw: 0.7 V: 0.5 0.5 0.0 A: -0.7 -0.6 -0.0
          commanding: XYZ 0.2 0.3 -1.0 yaw: 0.7 V: 0.5 0.4 0.0 A: -0.7 -0.6 -0.0
          commanding: XYZ 0.2 0.3 -1.0 yaw: 0.7 V: 0.5 0.4 0.0 A: -0.8 -0.7 -0.0
          commanding: XYZ 0.2 0.3 -1.0 yaw: 0.7 V: 0.5 0.4 0.0 A: -0.8 -0.7 -0.0
          commanding: XYZ 0.3 0.3 -1.0 yaw: 0.7 V: 0.4 0.4 0.0 A: -0.8 -0.7 -0.0
          commanding: XYZ 0.3 0.4 -1.0 yaw: 0.7 V: 0.4 0.3 0.0 A: -0.8 -0.7 -0.0
          commanding: XYZ 0.3 0.4 -1.0 yaw: 0.7 V: 0.4 0.3 0.0 A: -0.8 -0.7 -0.0
          commanding: XYZ 0.3 0.4 -1.0 yaw: 0.7 V: 0.4 0.3 0.0 A: -0.7 -0.6 -0.0
          commanding: XYZ 0.3 0.4 -1.0 yaw: 0.7 V: 0.3 0.3 0.0 A: -0.5 -0.5 -0.0
          commanding: XYZ 0.3 0.4 -1.0 yaw: 0.7 V: 0.3 0.3 0.0 A: -0.4 -0.3 0.0
          commanding: XYZ 0.3 0.4 -1.0 yaw: 0.7 V: 0.3 0.3 0.0 A: -0.3 -0.3 0.0
          commanding: XYZ 0.3 0.4 -1.0 yaw: 0.7 V: 0.3 0.2 0.0 A: -0.4 -0.4 0.0
          commanding: XYZ 0.3 0.4 -1.0 yaw: 0.7 V: 0.3 0.2 0.0 A: -0.6 -0.5 -0.0
          commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 V: 0.2 0.2 0.0 A: -0.8 -0.7 -0.0
          commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 V: 0.2 0.2 0.0 A: -1.1 -0.9 -0.1
          commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 V: 0.2 0.1 0.0 A: -1.3 -1.1 -0.1
          commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 V: 0.1 0.1 0.0 A: -1.4 -1.1 -0.1
          commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 V: 0.1 0.1 0.0 A: -1.3 -1.1 -0.1
          commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 V: 0.0 0.0 0.0 A: -1.0 -0.9 -0.1
          commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 V: 0.0 0.0 0.0 A: -0.7 -0.6 -0.1
          commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 V: 0.0 0.0 0.0 A: -0.3 -0.2 -0.0
          commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 V: 0.0 0.0 0.0 A: -0.0 -0.0 -0.0
          commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 V: -0.0 -0.0 0.0 A: -0.0 -0.0 0.0
          FINISHED TRAJECTORY
          commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
          commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
          commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
          commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
          commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
          commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
          commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
          commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
          commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
          commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
          commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
          commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
          commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
          commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
          commanding: XYZ 0.4 0.5 -1.0 yaw: 0.7
          commanding: XYZ 0.4 0.5 -1.0 yaw: 0.7
          commanding: XYZ 0.4 0.5 -1.0 yaw: 0.7
          commanding: XYZ 0.4 0.5 -1.0 yaw: 0.7
          commanding: XYZ 0.4 0.5 -1.0 yaw: 0.7

          1 Reply Last reply Reply Quote 0
          • G
            greg_s
            last edited by

            @ApoorvThapliyal, if you/your team needs anymore information or data, do let me know. Thank you.

            A 1 Reply Last reply Reply Quote 0
            • A
              ApoorvThapliyal @greg_s
              last edited by

              Hey @greg_s
              I just wanted to confirm, are you dragging the planned point to the height desired? By default, simply clicking on the map will generate a point at height 0.
              Let me know, thanks

              G 2 Replies Last reply Reply Quote 0
              • G
                greg_s @ApoorvThapliyal
                last edited by

                Hello @ApoorvThapliyal,

                Yes, I am dragging the point up and panning the camera around to ensure it is roughly the same height as the drone. The line drawn for the path is pretty straight and at the correctly level. The drone just ends up flying down below the point after I have move it.

                1 Reply Last reply Reply Quote 0
                • G
                  greg_s @ApoorvThapliyal
                  last edited by

                  Hello @ApoorvThapliyal,

                  Is there anything more your teams need to investigate/troubleshoot the issue? Thanks.

                  A 1 Reply Last reply Reply Quote 0
                  • A
                    ApoorvThapliyal @greg_s
                    last edited by

                    Hey @greg_s
                    I was able to reproduce the issue where the drone does not fly correctly toward the setpoint. I think reviewing the extrinsics.conf file is a good next step, as there may be an incorrect transform defined there.

                    G 2 Replies Last reply Reply Quote 0
                    • G
                      greg_s @ApoorvThapliyal
                      last edited by greg_s

                      Hey @ApoorvThapliyal,

                      Here is the output of the extrinsics:

                      voxl2:~$ voxl-inspect-extrinsics --all
                      name: D0014_Starling_2
                      #0:
                      parent: imu_apps
                      child: tracking_front
                      T_child_wrt_parent: 0.037 0.000 0.001
                      RPY_parent_to_child: 0.0 90.0 90.0
                      R_child_to_parent: 0.000 -0.000 1.000
                      1.000 0.000 -0.000
                      -0.000 1.000 0.000

                      #1:
                      parent: imu_apps
                      child: tracking_down
                      T_child_wrt_parent: -0.088 -0.004 0.027
                      RPY_parent_to_child: 0.0 0.0 180.0
                      R_child_to_parent: -1.000 -0.000 0.000
                      0.000 -1.000 -0.000
                      0.000 0.000 1.000

                      #2:
                      parent: imu_apps
                      child: tracking_rear
                      T_child_wrt_parent: -0.092 0.016 0.004
                      RPY_parent_to_child: 0.0 -90.0 -90.0
                      R_child_to_parent: 0.000 0.000 -1.000
                      -1.000 0.000 -0.000
                      0.000 1.000 0.000

                      #3:
                      parent: imu_apps
                      child: hires
                      T_child_wrt_parent: 0.039 0.000 0.019
                      RPY_parent_to_child: 0.0 90.0 90.0
                      R_child_to_parent: 0.000 -0.000 1.000
                      1.000 0.000 -0.000
                      -0.000 1.000 0.000

                      #4:
                      parent: body
                      child: imu_apps
                      T_child_wrt_parent: 0.029 -0.006 -0.016
                      RPY_parent_to_child: 0.0 0.0 0.0
                      R_child_to_parent: 1.000 -0.000 0.000
                      0.000 1.000 -0.000
                      0.000 0.000 1.000

                      #5:
                      parent: body
                      child: imu_px4
                      T_child_wrt_parent: 0.004 0.007 -0.016
                      RPY_parent_to_child: 0.0 0.0 0.0
                      R_child_to_parent: 1.000 -0.000 0.000
                      0.000 1.000 -0.000
                      0.000 0.000 1.000

                      #6:
                      parent: imu_apps
                      child: lepton0_raw
                      T_child_wrt_parent: -0.085 0.013 0.024
                      RPY_parent_to_child: 0.0 0.0 90.0
                      R_child_to_parent: 0.000 -1.000 0.000
                      1.000 0.000 -0.000
                      0.000 0.000 1.000

                      #7:
                      parent: body
                      child: tof
                      T_child_wrt_parent: 0.066 0.009 -0.012
                      RPY_parent_to_child: 0.0 90.0 180.0
                      R_child_to_parent: -0.000 -0.000 1.000
                      0.000 -1.000 -0.000
                      1.000 0.000 0.000

                      #8:
                      parent: body
                      child: ground
                      T_child_wrt_parent: 0.000 0.000 0.033
                      RPY_parent_to_child: 0.0 0.0 0.0
                      R_child_to_parent: 1.000 -0.000 0.000
                      0.000 1.000 -0.000
                      0.000 0.000 1.000

                      1 Reply Last reply Reply Quote 0
                      • G
                        greg_s @ApoorvThapliyal
                        last edited by

                        Hello @ApoorvThapliyal,

                        Is there anything that looks wrong or off about the configuration? Should I look at any other file in particular?

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