Odometry not showing in QGC mavlink inspector
-
Hi all,
As the title states, I have no odometry showing up in QGC, and I'm getting X/Y position error. My voxl-vision-hub and voxl-open-vins-server are all up and running, and I have tested with voxl-inspect-vins and voxl-portal to confirm that features are good and extrinsics are correctly configured. I have attached a copy of my Vision Hub and OpenVins server conf files. I also have all the default params for the indoor no-GPS drone configuration. Here you can see all of the params from this log.
For reference, I am building a custom x8 quad using the VOXL 2 mini as my flight controller with no GPS or mag attached, as it is an indoor drone.
{ "en_auto_reset": true, "auto_reset_max_velocity": 20, "auto_reset_max_v_cov_instant": 0.20000000298023224, "auto_reset_max_v_cov": 0.20000000298023224, "auto_reset_max_v_cov_timeout_s": 0.5, "auto_reset_min_features": 5, "auto_reset_min_feature_timeout_s": 10, "ok_state_grace_timeout_s": 2, "auto_fallback_timeout_s": 3, "auto_fallback_min_v": 0.600000023841858, "en_cont_yaw_checks": false, "fast_yaw_thresh": 5, "fast_yaw_timeout_s": 1.75, "yaml_folder": "/usr/share/modalai/voxl-open-vins/VoxlConfig/custom_tunnel", "using_stereo": 0, "takeoff_alt_threshold": 0.1, "takeoff_occlude_stereo_left": false, "takeoff_occlude_stereo_right": false, "sync_config": true, "fusion_rate_dt_ms": 33, "imu_body_frame_mode": true, "quality_low_thresh_initial": 15, "quality_low_thresh_good": 14, "quality_high_thresh": 35, "quality_initial_to_bad_count": 20, "quality_initial_to_good_count": 50, "quality_bad_to_good_count": 60, "quality_good_to_bad_count": 45 }{ "config_file_version": 1, "en_localhost_mavlink_udp": false, "localhost_udp_port_number": 14551, "en_vio": true, "vio_pipe": "ov", "secondary_vio_pipe": "ov", "vfc_vio_pipe": "ov", "en_reset_vio_if_initialized_inverted": true, "vio_warmup_s": 3, "send_odom_while_failed": true, "horizon_cal_tolerance": 0.5, "en_hitl": false, "offboard_mode": "vfc", "follow_tag_id": 0, "figure_eight_move_home": true, "robot_radius": 0.300000011920929, "collision_sampling_dt": 0.1, "max_lookahead_distance": 1, "wps_move_home": true, "wps_stride": 0, "wps_timeout": 0, "wps_damp": 1, "wps_vfc_mission": true, "wps_vfc_mission_loop": false, "wps_vfc_mission_to_ramp": 25, "wps_vfc_mission_to_kp": 0.10000000149011612, "wps_vfc_mission_cruise_speed": 1, "tracking_trigger_ch": 12, "tracking_trigger_ch_thresh_temp": 1200, "tracking_trigger_ch_thresh_new": 1800, "en_tag_fixed_frame": false, "fixed_frame_filter_len": 5, "en_transform_mavlink_pos_setpoints_from_fixed_frame": false, "en_voa": false, "voa_upper_bound_m": -0.15000000596046448, "voa_lower_bound_m": 0.15000000596046448, "voa_voa_memory_s": 1, "voa_max_pc_per_fusion": 100, "voa_pie_max_dist_m": 20, "voa_pie_min_dist_m": 0.25, "voa_pie_under_trim_m": 1, "voa_pie_threshold": 3, "voa_send_rate_hz": 20, "voa_pie_slices": 36, "voa_pie_bin_depth_m": 0.15000000596046448, "voa_inputs": [{ "enabled": true, "type": "point_cloud", "input_pipe": "dfs_point_cloud", "frame": "stereo_l", "max_depth": 8, "min_depth": 0.300000011920929, "cell_size": 0.079999998211860657, "threshold": 4, "x_fov_deg": 68, "y_fov_deg": 56, "conf_cutoff": 0 }, { "enabled": true, "type": "point_cloud", "input_pipe": "stereo_front_pc", "frame": "stereo_front_l", "max_depth": 8, "min_depth": 0.300000011920929, "cell_size": 0.079999998211860657, "threshold": 4, "x_fov_deg": 68, "y_fov_deg": 56, "conf_cutoff": 0 }, { "enabled": true, "type": "point_cloud", "input_pipe": "stereo_rear_pc", "frame": "stereo_rear_l", "max_depth": 8, "min_depth": 0.300000011920929, "cell_size": 0.079999998211860657, "threshold": 4, "x_fov_deg": 68, "y_fov_deg": 56, "conf_cutoff": 0 }, { "enabled": true, "type": "tof", "input_pipe": "tof", "frame": "tof", "max_depth": 6, "min_depth": 0.15000000596046448, "cell_size": 0.079999998211860657, "threshold": 3, "x_fov_deg": 106.5, "y_fov_deg": 85.0999984741211, "conf_cutoff": 125 }, { "enabled": true, "type": "rangefinder", "input_pipe": "rangefinders", "frame": "body", "max_depth": 8, "min_depth": 0.300000011920929, "cell_size": 0.079999998211860657, "threshold": 4, "x_fov_deg": 68, "y_fov_deg": 56, "conf_cutoff": 0 }] }If anyone has any recommendations, please let me know. I've been stuck on this for a while.
Thanks,
Sam -
Hi all,
As the title states, I have no odometry showing up in QGC, and I'm getting X/Y position error. My voxl-vision-hub and voxl-open-vins-server are all up and running, and I have tested with voxl-inspect-vins and voxl-portal to confirm that features are good and extrinsics are correctly configured. I have attached a copy of my Vision Hub and OpenVins server conf files. I also have all the default params for the indoor no-GPS drone configuration. Here you can see all of the params from this log.
For reference, I am building a custom x8 quad using the VOXL 2 mini as my flight controller with no GPS or mag attached, as it is an indoor drone.
{ "en_auto_reset": true, "auto_reset_max_velocity": 20, "auto_reset_max_v_cov_instant": 0.20000000298023224, "auto_reset_max_v_cov": 0.20000000298023224, "auto_reset_max_v_cov_timeout_s": 0.5, "auto_reset_min_features": 5, "auto_reset_min_feature_timeout_s": 10, "ok_state_grace_timeout_s": 2, "auto_fallback_timeout_s": 3, "auto_fallback_min_v": 0.600000023841858, "en_cont_yaw_checks": false, "fast_yaw_thresh": 5, "fast_yaw_timeout_s": 1.75, "yaml_folder": "/usr/share/modalai/voxl-open-vins/VoxlConfig/custom_tunnel", "using_stereo": 0, "takeoff_alt_threshold": 0.1, "takeoff_occlude_stereo_left": false, "takeoff_occlude_stereo_right": false, "sync_config": true, "fusion_rate_dt_ms": 33, "imu_body_frame_mode": true, "quality_low_thresh_initial": 15, "quality_low_thresh_good": 14, "quality_high_thresh": 35, "quality_initial_to_bad_count": 20, "quality_initial_to_good_count": 50, "quality_bad_to_good_count": 60, "quality_good_to_bad_count": 45 }{ "config_file_version": 1, "en_localhost_mavlink_udp": false, "localhost_udp_port_number": 14551, "en_vio": true, "vio_pipe": "ov", "secondary_vio_pipe": "ov", "vfc_vio_pipe": "ov", "en_reset_vio_if_initialized_inverted": true, "vio_warmup_s": 3, "send_odom_while_failed": true, "horizon_cal_tolerance": 0.5, "en_hitl": false, "offboard_mode": "vfc", "follow_tag_id": 0, "figure_eight_move_home": true, "robot_radius": 0.300000011920929, "collision_sampling_dt": 0.1, "max_lookahead_distance": 1, "wps_move_home": true, "wps_stride": 0, "wps_timeout": 0, "wps_damp": 1, "wps_vfc_mission": true, "wps_vfc_mission_loop": false, "wps_vfc_mission_to_ramp": 25, "wps_vfc_mission_to_kp": 0.10000000149011612, "wps_vfc_mission_cruise_speed": 1, "tracking_trigger_ch": 12, "tracking_trigger_ch_thresh_temp": 1200, "tracking_trigger_ch_thresh_new": 1800, "en_tag_fixed_frame": false, "fixed_frame_filter_len": 5, "en_transform_mavlink_pos_setpoints_from_fixed_frame": false, "en_voa": false, "voa_upper_bound_m": -0.15000000596046448, "voa_lower_bound_m": 0.15000000596046448, "voa_voa_memory_s": 1, "voa_max_pc_per_fusion": 100, "voa_pie_max_dist_m": 20, "voa_pie_min_dist_m": 0.25, "voa_pie_under_trim_m": 1, "voa_pie_threshold": 3, "voa_send_rate_hz": 20, "voa_pie_slices": 36, "voa_pie_bin_depth_m": 0.15000000596046448, "voa_inputs": [{ "enabled": true, "type": "point_cloud", "input_pipe": "dfs_point_cloud", "frame": "stereo_l", "max_depth": 8, "min_depth": 0.300000011920929, "cell_size": 0.079999998211860657, "threshold": 4, "x_fov_deg": 68, "y_fov_deg": 56, "conf_cutoff": 0 }, { "enabled": true, "type": "point_cloud", "input_pipe": "stereo_front_pc", "frame": "stereo_front_l", "max_depth": 8, "min_depth": 0.300000011920929, "cell_size": 0.079999998211860657, "threshold": 4, "x_fov_deg": 68, "y_fov_deg": 56, "conf_cutoff": 0 }, { "enabled": true, "type": "point_cloud", "input_pipe": "stereo_rear_pc", "frame": "stereo_rear_l", "max_depth": 8, "min_depth": 0.300000011920929, "cell_size": 0.079999998211860657, "threshold": 4, "x_fov_deg": 68, "y_fov_deg": 56, "conf_cutoff": 0 }, { "enabled": true, "type": "tof", "input_pipe": "tof", "frame": "tof", "max_depth": 6, "min_depth": 0.15000000596046448, "cell_size": 0.079999998211860657, "threshold": 3, "x_fov_deg": 106.5, "y_fov_deg": 85.0999984741211, "conf_cutoff": 125 }, { "enabled": true, "type": "rangefinder", "input_pipe": "rangefinders", "frame": "body", "max_depth": 8, "min_depth": 0.300000011920929, "cell_size": 0.079999998211860657, "threshold": 4, "x_fov_deg": 68, "y_fov_deg": 56, "conf_cutoff": 0 }] }If anyone has any recommendations, please let me know. I've been stuck on this for a while.
Thanks,
Sam@Samuel-Marchetti Perhaps this can help with the odometry? https://forum.modalai.com/topic/3341/odometry-message/3?_=1782862595827
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