vio problem
-
Hi,
system-image: 1.8.06-M0054-14.1a-perf
kernel: #1 SMP PREEMPT Wed Oct 22 04:29:38 UTC 2025 4.19.125
────────────────────────────────────────────────────────────────────────────────
hw platform: M0054
mach.var: 1.2.1
SKU: MRB-D0012-4-V3-C28-T8-M36-X0
────────────────────────────────────────────────────────────────────────────────
voxl-suite: 1.6.4~alpha2We are flying indoors using lidar and vio.
We monitor MAVLINK_MSG_ID_ESTIMATOR_STATUS during the flight looking at s.flags & ESTIMATOR_POS_HORIZ_REL
it is our way to monitor vio status.
vio was wroking fine for few weeks out of the box.
Now it seems it degragated, in each run it fails when we get to a specific point in our lab. it was not like this before.
We suspect it has to do with hardware but we dont know what exactly. vio loses horizontal position when we get to this specific point when the drone sliding to the side. we do not know what can fire this event.
When we run voxl-check-vibration it seems ok. so we think there is no need to calibrate. The tracking cameras stream looks fine.
voxl-vision-hub.conf
"en_vio": true,
"vio_pipe": "qvio",
"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,
One thing we are not sure about. should both qvio and ov services are working out of the box ? ov is redundency for qvio ? in one of the drones the ov service was disabled without any reason. I guess they should both work after boot.
when you turn off ov service do we need to change the vision-hub.conf file ?
do you have any idea what can be the reason or how to debug it ?currently we are getting poor vio compared to what we had when we got the drones.
BR,
Roy -
Hi,
system-image: 1.8.06-M0054-14.1a-perf
kernel: #1 SMP PREEMPT Wed Oct 22 04:29:38 UTC 2025 4.19.125
────────────────────────────────────────────────────────────────────────────────
hw platform: M0054
mach.var: 1.2.1
SKU: MRB-D0012-4-V3-C28-T8-M36-X0
────────────────────────────────────────────────────────────────────────────────
voxl-suite: 1.6.4~alpha2We are flying indoors using lidar and vio.
We monitor MAVLINK_MSG_ID_ESTIMATOR_STATUS during the flight looking at s.flags & ESTIMATOR_POS_HORIZ_REL
it is our way to monitor vio status.
vio was wroking fine for few weeks out of the box.
Now it seems it degragated, in each run it fails when we get to a specific point in our lab. it was not like this before.
We suspect it has to do with hardware but we dont know what exactly. vio loses horizontal position when we get to this specific point when the drone sliding to the side. we do not know what can fire this event.
When we run voxl-check-vibration it seems ok. so we think there is no need to calibrate. The tracking cameras stream looks fine.
voxl-vision-hub.conf
"en_vio": true,
"vio_pipe": "qvio",
"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,
One thing we are not sure about. should both qvio and ov services are working out of the box ? ov is redundency for qvio ? in one of the drones the ov service was disabled without any reason. I guess they should both work after boot.
when you turn off ov service do we need to change the vision-hub.conf file ?
do you have any idea what can be the reason or how to debug it ?currently we are getting poor vio compared to what we had when we got the drones.
BR,
RoyHello there,
It seems that you're currently running an alpha version of an old version of the SDK. I would recommend updating your SDK.In regards to VIO, I would recommend running OV pipe instead of QVIO (more details on this available on my past replies/posts). In addition, I would recalibrate your unit IMU via voxl-portal, ensuring your gravity magnitude post calibration is ~||9.81m/s^2||. You can inspect it via voxl-inspect-imu on the devices' shell.
All the best,
ZBFT (Joao Leonardo Silva Cotta) -
Hi ZBFT,
We have done the steps you recomended both with 1.6.4 alpha2 version in with 1.6.6 version.
canceling qvio, making sure only one open-vins service regarding vio. recalibrating imu.
The drone is still loosing horizontal pos at the same manuver( sliding to the left when there is a wall in front)
I want to proved you with some facts.- we reverted back to a code we know worked well before and suddenly we experiance this problem. ( made us syspect somthing changed in hw ( some kind of movment of camera or lense because of a crash)
- the qvio with 1.6.4 alpha2 version with qvio was working perfectly with this version of ours and now it not failing in the same manuver again and again.
- we double check all px4 params against a golden copy.
- The other possiblity that it is something wrong in our appication is also a possiblity( we have two drone acting the same)
can you guide us what other information we can log in order to trace why vio pos suddenly jumps to a far horizontal position. what can explain such a behavior ?
BR,
Roy
-
Hello Roy,
Here are some questions and steps to begin troubleshooting it:- Have you done any mods to your airframe that could impede the camera view?
- Do you have any voxl-logger logs? (if not, collect with voxl-logger -b -v ov on device's shell) -- These are useful to replay and evaluate VIO offline, allowing to trace any abnormal behaviour.
- By losing VIO, you mean as in position hold no longer works until flight completion or as in estimates suddenly jump but the filter remains stable? (Failure vs. a Dynamic reset).
-
Hello Roy,
Here are some questions and steps to begin troubleshooting it:- Have you done any mods to your airframe that could impede the camera view?
- Do you have any voxl-logger logs? (if not, collect with voxl-logger -b -v ov on device's shell) -- These are useful to replay and evaluate VIO offline, allowing to trace any abnormal behaviour.
- By losing VIO, you mean as in position hold no longer works until flight completion or as in estimates suddenly jump but the filter remains stable? (Failure vs. a Dynamic reset).
@zauberflote1 Hi ZBFT,
reagardng your fitst question: yes, we have added few elements:- 2d Lidar 50gram above the gps bridge
- 2 x light ilumination (front, down - we are flying and dark tunnels next to tracking cameras)
- props guards the are seen by the tracking camera
- we have added tof camera, moving from C28 to C29 ( currently its not working or wired in sw), we have changed the extrinsix.conf file in /etc/modalai accordingly.
all of those changes did not effect our filght and we had good flight with good vio during the flight.
rerding youe second point:
we did not fly with logs. that is the first thing we are going to do Sunday morning when we will be back in the lab. hope to understand more from logs. if not we will send it to you hopefully you can enlight us.regarding your third point I dont actualy know the answer:
as I wrote first time I started this thread, we are monitoring the px4 using mavlink status and we see the horizontal position was lost in the middle of flight after starting a manuver to the right which is using position hold. but even when we tried to position hold from code we so vio is lost.I want to emphasize we had a stable system hw and sw wise and suddelny it degregated and we cannot put our finger what has changed.
BR,
Roy
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