This is essentially bumping Apriltag landing fixed frame ROS interface, How can I see the apriltag offset in ROS, and How can I get fixed pose via qgc or ros topics.

I can perform apriltag relocalization and see that it is working correctly via voxl-vision-px4 -p or other voxl means, but both /mavros/local_position/pose and /qvio/pose report position in local frame. I understand that I can issue commands in fixed frame to then be corrected by mavros en route the PX4, but this is only useful in ROS/QGC if my fixed and local frames are roughly equivalent (so using relocalization to correct for drift, but not to initialize position).

Thanks!

For reference, my platform is an m500 with VOXL1:
Firmware: 1.13.2, Custom Fw. Ver. 0.1.1
system-image: 4.0.0
kernel: #1 (closed) SMP PREEMPT Thu Oct 13 17:57:05 UTC 2022 3.18.71-perf
hw version: VOXL
voxl-suite: 0.9.4

and my parameter file is:

MAVLINK IO
qgc_udp_port_number: 14550
udp_mtu: 512
en_localhost_mavlink_udp 1
localhost_udp_port_number: 14551
VIO
en_vio: 1
vio_pipe: qvio
en_send_vio_to_qgc: 0
en_reset_vio_if_initialized_inverted: 1
vio_warmup_s: 3.000000
send_odom_while_failed: 0
APQ8096-ONLY FEATURES
en_set_clock_from_gps: 1
en_force_onboard_mav1_mode: 1
en_reset_px4_on_error: 1
MISC FEATURES
horizon_cal_tolerance: 0.500000
OFFBOARD MODE
offboard_mode: off
follow_tag_id: 0
figure_eight_move_home: 1
robot_radius: 0.300000
collision_sampling_dt: 0.100000
max_lookahead_distance: 1.000000
FIXED FRAME RELOCALIZATION
en_tag_fixed_frame: 1
fixed_frame_filter_len: 5
en_transform_mavlink_pos_setpoints_from_fixed_frame:1

@Moderator Hello - sorry if this isn't needed, but I put some settings/configs from one of the drones a couple messages up. If you could recommend other settings to look at to help get telemetry flowing between FCv2 and VOXL, it would be much appreciated. I'm happy to provide other settings/configs, just let me know what is helpful.

Thanks,

Jay

@Moderator Some of the information from one of the problem units (not seeing obvious issues with UDP and routing between FCv2 and VOXL). Also not seeing obvious wiring problems:
Again, we can connect to QGC via USB but not over wifi. We are able to ssh into VOXL.
voxl-vision-px4.conf:
{
"config_file_version": 1,
"qgc_ip": "192.168.8.97",
"en_secondary_qgc": false,
"secondary_qgc_ip": "192.168.1.214",
"qgc_udp_port_number": 14550,
"udp_mtu": 512,
"en_localhost_mavlink_udp": true,
"localhost_udp_port_number": 14551,
"vio_pipe": "qvio",
"en_vio": true,
"en_send_vio_to_qgc": false,
"en_reset_vio_if_initialized_inverted": true,
"vio_warmup_s": 3,
"send_odom_while_failed": false,
"en_set_clock_from_gps": true,
"en_force_onboard_mav1_mode": true,
"en_reset_px4_on_error": true,
"horizon_cal_tolerance": 0.5,
"offboard_mode": "off",
"follow_tag_id": 0,
"figure_eight_move_home": true,
"robot_radius": 0.300000011920929,
"collision_sampling_dt": 0.1,
"max_lookahead_distance": 1,
"en_tag_fixed_frame": false,
"fixed_frame_filter_len": 5,
"en_transform_mavlink_pos_setpoints_from_fixed_frame": false,
"en_voa": true,
"en_send_voa_to_qgc": false,
"voa_upper_bound_m": -0.15000000596046448,
"voa_lower_bound_m": 0.15000000596046448,
"voa_memory_s": 1,
"voa_inputs": [{
"enabled": true,
"type": "point_cloud",
"input_pipe": "dfs_point_cloud",
"frame": "stereo_l"
}, {
"enabled": true,
"type": "point_cloud",
"input_pipe": "stereo_front_pc",
"frame": "stereo_front_l"
}, {
"enabled": true,
"type": "point_cloud",
"input_pipe": "stereo_rear_pc",
"frame": "stereo_rear_l"
}, {
"enabled": true,
"type": "tof",
"input_pipe": "tof",
"frame": "tof"
}, {
"enabled": true,
"type": "rangefinder",
"input_pipe": "rangefinders",
"frame": "body"
}]
}

system-image: 4.0.0
kernel: #1 SMP PREEMPT Thu Oct 13 17:57:05 UTC 2022 3.18.71-perf

hw version: VOXL

voxl-suite: 0.9.4

List:
apq8096-dfs-server 0.3.1
apq8096-imu-server 1.0.3
apq8096-libpng 1.6.38-1
apq8096-system-tweaks 0.1.3
apq8096-tflite 2.8.3-1
libapq8096-io 0.6.0
libmodal-cv 0.2.3
libmodal-exposure 0.0.7
libmodal-journal 0.2.1
libmodal-json 0.4.3
libmodal-pipe 2.6.0
libvoxl-cci-direct 0.1.5
libvoxl-cutils 0.1.1
voxl-camera-calibration 0.2.3
voxl-camera-server 1.3.5
voxl-cpu-monitor 0.3.0
voxl-docker-support 1.2.4
voxl-gphoto2-server 0.0.10
voxl-jpeg-turbo 2.1.3-4
voxl-libgphoto2 0.0.4
voxl-libuvc 1.0.7
voxl-logger 0.3.4
voxl-mavlink 0.1.0
voxl-mavlink-server 0.2.0
voxl-modem 0.16.1
voxl-mongoose 7.7.0-1
voxl-mpa-to-ros 0.3.6
voxl-mpa-tools 0.7.6
voxl-opencv 4.5.5-1
voxl-portal 0.4.2
voxl-qvio-server 0.8.2
voxl-streamer 0.4.1
voxl-suite 0.9.4
voxl-system-image 4.0-r0
voxl-tag-detector 0.0.4
voxl-tflite-server 0.3.1
voxl-utils 1.2.2
voxl-uvc-server 0.1.3
voxl-vision-px4 1.4.0
voxl-vpn 0.0.6

FCv2 info from MAVLINK:
HW arch: MODALAI_FC_V2

HW type: V230

HW version: 0x00000003

HW revision: 0x00000000

FW git-hash: 890300a471ddac62c7c3f78b1fff863c419ff360

FW version: Release 1.13.2 (17629951)

OS: NuttX

OS version: Release 11.0.0 (184549631)

OS git-hash: 91bece51afbe7da9db12e3695cdbb4f4bba4bc83

Build datetime: Jan  9 2023 02:27:25

Build uri: localhost

Build variant: default

Toolchain: GNU GCC, 9.3.1 20200408 (release)

PX4GUID: 000600000000343630333436511000150008

MCU: STM32H7[4|5]xxx, rev. Y

@Eric-Katzfey I think it probably makes a lot of sense to leave it on there and just call it out more in unboxing. We purchased a number of platforms and it only came up with 2 of them.

@Eric-Katzfey Thanks for the tip!

The serial cable seemed to be OK, but updating the system to 0.9.5 via a fastboot recovery seemed to solve the problem. I think this issue relates to https://forum.modalai.com/topic/525/voxl-adb-or-wi-fi-no-longer-communicating but with the added symptom that I could ssh into the VOXL board over wifi as well as ADB in, but that the mavlink connection really seemed troublesome and QGC wasn't connecting over wifi. I just used VOXL Platform 0.9.5 for my update and that seemed to save things. (for those reading, make sure your extrinsics file is saved over on the /data/modalai partition! Mine was over there through good luck rather than foresight and confirmation on my part...)

@Paul-Carff there are not enough faces to palm in this world... Solved my issue as well!

@tom Sorry for the delay, was having login issues.

We have a dual board with Flight Core 2. I'll try upgrading the SDK, but I'm a bit wary given we have a fleet of these puppies!

Thanks!

Jay

@tom sorry for pinging you but I've seen you active in the discussions lately! Do you have any ideas here?

@Paul-Carff I have the same problem over on https://forum.modalai.com/topic/2058/tracking-camera-black-frames (although with m500).

@Paul-Carff I'd be curious if you look at the portal if you see anything through the camera?

We've had some issues on two m500 platforms where the tracking camera is giving fully black frames, which then results in, obviously, poor qvio performance, but only seems to be diagnosable by looking at the camera output.

Also, sorry, also saw issue 1586 and can confirm that external_fc parameter in voxl-mavlink-server.conf is false