@iparra I have narrowed it down a little. It has to do with apriltag detection. As soon as the service is enabled the drone looses stability even switching to figure_eight mode. The following options were enabled "en_transform_mavlink_pos_setpoints_from_fixed_frame": true, "en_tag_fixed_frame": true. Maybe it has something to do with the transforms. Any idea? Is the use of tag-detector in some way incompatible with autonomous navigation?
Latest posts made by iparra
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RE: Starling loosing stability when switching from position mode to trajectory mode
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ESCs calibration after propellers replacement
We damaged one of the blades and replaced (one pair on one of the rotors). The new blades are the same as the original ones. We have several questions:
- When a blade is damaged, do we change all the set (4 pairs) or only the pair that is damaged?
- Is it recommendable to calibrate the ESC after the replacement? Right now it feels a bit more unstable than before
- If so, can you point me to the recommended procedure for calibration?
Thank you in advance
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Starling loosing stability when switching from position mode to trajectory mode
We are using voxl-mapper for autonomous indoor flights and we are experiencing strong height looses or even drifting sideways when switching from position mode (Drone hoovering in position hold mode with 90-100% QVIO quality) to offboard (trajectory). Sometimes it is a short drop in height, but most of the times the drone reaches the floor or drifts sideways at a considerable speed until we switch to manual mode and land. The times it is able to regain stability, voxl-mapper works as expected. Any idea of what can cause this?
Thank you in advance
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RE: Starling planning using waypoints
@Jetson-Nano Unfortunately it is not yet fully working, as I said I managed to create plans with waypoints and to fly those plans we are currently launching the plans on a waypoint to waypoint basis so, no full trajectory without stopping (we don't have to click on the waypoints but the drone stops to plan the next strecht). We have done so because we don't trust the VIO to be able to mantain a correct pose for the long trajectory through the waypoints and we "stop" at the waypoints (where we placed april tags) to relocate and replan with a corrected position after a flight between waypoints.
If you trust VIO to follow your planned trajectory it is possible. We have modified the planTo function from mapper to localize the closest waypoint to the clicked target and we launch global_planner_->createPlan(current_start, final_target, waypoints_); iteratively from way point to waypoint without clearing the waypoints_ vector until it reaches the last waypoint and then plan to the actual target. This creates a long trajectory that should be followed when you press follow button. As I said we have never tried to follow the long trajectory, but as far as I understand the drone should follow it given that qvio maintains a good enough pose.
Right now we are experiencing stability issues when switching from position mode to trajectory mode. If we manage to solve that I can run a test with the long trajectory and get back to you.
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RE: How to load a vxblx file into voxl-mapper
@Moderator Hi, do you know where can I get a description of the tsdf file format that the voxl-mapper uses?
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How to load a vxblx file into voxl-mapper
Hi,
we are trying to load map a .vxblx tsdf map generated with voxblox into the drone. We have assumed that the vxblx is the tsdf file that the voxl-mapper generates and have transformed the vxblx file to esdf with the test tool tsdf_to_esdf from voxblox project. Unfortunately it seems that the .vxblx is not accepted by voxl-mapper. Apparently they are not the same format. Is there a way to load a voxblox .vxblx tsdf map into voxl-mapper? Are we missing something?Another workaround would be to reproduce a bag directly into voxl-mapper and let it create the map files. We have found voxl-mpa-to-ros, is there an equivalent voxl-ros-to-mpa?
Thank you in advance
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RE: Starling planning using waypoints
@iparra said in Starling planning using waypoints:
@Moderator Thak you for your help.
I already have a first working version as far as planning is concerned, but I'm looking now into voxl-portal to be able to nicely interactuate with the buttons and the voxl-mapper "states".
Another question, after an initial mapping, I don't want to use the mapping feature of voxl-mapper but the planning. Is there a way to tell voxl-mapper not to update the map with the new measures. As there is not actual SLAM, when some VIO fails the map gets ruined and cannot continue flying unless I clear the map and reload. We are relocalizing using april tags, but after the relocalizacions the map can be ruined.
Thank you in advance
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RE: Starling planning using waypoints
@Moderator Thak you for your help.
I already have a first working version as far as planning is concerned, but I'm looking now into voxl-portal to be able to nicely interactuate with the buttons and the voxl-mapper "states".
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Starling planning using waypoints
Hi,
we want to fly the drone in large indoors environments and we want the planner not to use a single target point but a series of waypoints so that we can plan a very long trajectory inside a building. It does not necessarily has to be on the voxl-portal by clicking, it is ok if we pass along a series of way points coordinates (10-15) and the planner performs plans between waypoints or a long plan passing through the way points. Where should we start looking to do so?
Thank you in advance
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RE: Sentinel ESC blue leds don't remain solid or flash
@Eric-Katzfey We loaded the default parameters with QGC and everything is back to normal.
Thank you for your help!