Unstable Seeker after flashing

[tomipi]

Hi,

After flashing Seeker with VOXL Platform Release version 3-3-0-0.5.0-a, the drone becomes unstable. For example:

• for voxl-inspect-qvio the state is often FALSE,
• in QGC, LOCAL_POSITION_NED is displaying 0 for x and y, and
• flight modes cannot be changed from manual.

I wonder if this platform version is compatible with Seeker.

Best regards,
Tomi

[Chad Sweet]

Have you followed the configure cameras and configure extrinsics instructions?

[tomipi]

I believe configuring extrinsics solved most of the problems. However, the drone is till unstable. I believe, this is due to camera calibration issues. Could you send me the factory calibration files? The serial number is: M2100000ADF

[tomipi]

The drone is stable now after the factory reset.

However, the obstacle detection is not working. I have performed all the steps described in the collision preventation documentation. Running voxl-vision-px4 -s shows only 0s, and plotting obstacle detection values in QGC shows constant value of 800.

[Chad Sweet]

Below is how the data is stored in our factory test system. You'll have to put in the appropriate files on the device
Stereo

left_file:
image_width: 640 image_height: 480 camera_name: stereo/left camera_matrix: rows: 3 cols: 3 data: [487.942708, 0.000000, 324.262987, 0.000000, 488.207664, 226.535030, 0.000000, 0.000000, 1.000000] distortion_model: plumb_bob distortion_coefficients: rows: 1 cols: 5 data: [-0.183242, 0.092993, 0.001636, 0.002351, 0.000000] rectification_matrix: rows: 3 cols: 3 data: [0.999402, 0.017884, -0.029602, -0.018147, 0.999798, -0.008634, 0.029442, 0.009166, 0.999524] projection_matrix: rows: 3 cols: 4 data: [481.408541, 0.000000, 335.745487, 0.000000, 0.000000, 481.408541, 235.869326, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]

right_file:
image_width: 640 image_height: 480 camera_name: stereo/right camera_matrix: rows: 3 cols: 3 data: [494.322761, 0.000000, 306.787914, 0.000000, 494.936946, 243.259023, 0.000000, 0.000000, 1.000000] distortion_model: plumb_bob distortion_coefficients: rows: 1 cols: 5 data: [-0.190425, 0.125860, 0.001785, 0.001663, 0.000000] rectification_matrix: rows: 3 cols: 3 data: [0.999639, 0.001549, -0.026818, -0.001310, 0.999959, 0.008920, 0.026831, -0.008881, 0.999601] projection_matrix: rows: 3 cols: 4 data: [481.408541, 0.000000, 335.745487, -38.658530, 0.000000, 481.408541, 235.869326, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]

Tracking
cal_file:
image_width: 640 image_height: 480 camera_name: tracking camera_matrix: rows: 3 cols: 3 data: [274.922032, 0.000000, 309.952588, 0.000000, 274.948673, 251.752841, 0.000000, 0.000000, 1.000000] distortion_model: fisheye distortion_coefficients: rows: 1 cols: 4 data: [-0.010459, 0.020757, -0.019777, 0.006074] rectification_matrix: rows: 3 cols: 3 data: [1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000] projection_matrix: rows: 3 cols: 4 data: [297.615845, 0.000000, 316.949822, 0.000000, 0.000000, 293.292755, 235.377491, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]

[tomipi]

Thanks Chad. We did the calibration again with a better calibration target, and this fixed the problem.