OpenVINS issue

[Nitin Varma Vegesna]

Hello, I enabled openvins using the documentation here https://docs.modalai.com/voxl-open-vins-server, except the sku.txt change.

for some reason, I see in the hand testing, the z drift often, and also I continuously see [ INFO] [1770537820.961194398]: FCU: Vision Data Too Old.

How do I fix these issues?

Thanks.

[Nitin Varma Vegesna]

Things I changed: "track_frequency": 30,
"publish_frequency": 20,

using 2 cameras (not tracking_rear) in voxl_cams.conf

Is resolution (1280x800) an issue?

One thing I see is that sometimes, this [ INFO] [1770537820.961194398]: FCU: Vision Data Too Old error comes repeatedly and then z drifts, maybe due to the processing power of the cpu or something else? Please let me know if you know anything regarding this.

[zauberflote1]

@Nitin-Varma-Vegesna

Hello, please provide your platform specs and sdk version.

[Nitin Varma Vegesna]

@zauberflote1 said in OpenVINS issue:

Hello, please provide your platform specs and sdk version.

[Nitin Varma Vegesna]

@zauberflote1 this was during hand testing, and I am using 3 cameras now actually.

Also, when following documentation, I followed this instruction: edit /data/modalai/sku.txt and add a -E1 suffix to the string. save the file, e.g. MRB-D0005-4-V3-C12-E1

But, I couldn't see /mavros/local_position/odom for some reason after, so I reverted. I don't know if it was an issue with power cycle (pretty sure I did), but that's another difference.

[Nitin Varma Vegesna]

@zauberflote1 In addition, I can't get above 20 FPS for ov_overlay (19 FPS with 2 cameras), which seems pretty bad when QVIO is 30 FPS. Is there a limit on the publish_frequency I could use, although it's not even reaching the publish_frequency.

[zauberflote1]

@Nitin-Varma-Vegesna Please update your SDK to the latest... Minimum SDK required does not mean best performance.

Also, please follow this post for posting guidelines: https://forum.modalai.com/topic/2670/please-read-support-request-format-for-best-results

Finally, please provide a screenshot of your voxl-inspect-cpu output...

[Nitin Varma Vegesna]

@zauberflote1 I am no longer having this issue. I have been flying with OpenVins for some time, and I was sometimes seeing drift in the vio estimate, and I was wondering what are the best configs to use. for vio_cams.conf and voxl-open-vins-server.conf?