We are testing with the new SDK1.14 and the OpenVins implementation.
The basic test that we're doing is taking off to 1m and staying there.
What we did see is that out of 50 tests that we did, only 10 were relatively correct. The other ones where going a lot higher.

Hereby 2 flight logs that you can check :
Bad flight : https://review.px4.io/plot_app?log=5e809b1e-3473-425c-8d42-9dce0472b1ef
Good flight :https://review.px4.io/plot_app?log=9fdb3a61-3e4d-4eb2-9b35-10072e665f28

How can we tune the performance and accuracy of indoor flights?
Can we get some technical help on this, please?

@Eric-Katzfey, @Randy-Mackay After some more tests, we managed to get everything working.

Mission Planner on clean Windows device still had port 14550 blocked for some reason.
After a full reboot, it worked with initiating connection from the drone to the GCS.

On Mac OS, using Mission Planner via Parallels Desktop : Here, you'll need to add port forwarding of UDP Port 14550.
We've used a Shared Network and it also connect automatically from the drone to the GCS.

Thanks for your insights!

@GlennTee the problem lies in a mismatch between the topics which you see using "ros2 topic list" and the publishers from the offboard_control node.

The ros2 node has publishers defined as follows:

	OffboardControl() : Node("offboard_control")
	{

		offboard_control_mode_publisher_ = this->create_publisher<OffboardControlMode>("/fmu/in/offboard_control_mode", 10);
		trajectory_setpoint_publisher_ = this->create_publisher<TrajectorySetpoint>("/fmu/in/trajectory_setpoint", 10);
		vehicle_command_publisher_ = this->create_publisher<VehicleCommand>("/fmu/in/vehicle_command", 10);

Do you know where you changed the prefix uav_4?
I can't remember where to configure it.

So, you can change the ROS2 code, rebuild and it should work. Or remove the uav_4 prefix

@claw You'll need to change the parameter COM_RC_OVERRIDE to also allow overriding offboard mode.

Reference link : https://docs.px4.io/main/en/advanced_config/parameter_reference.html#COM_RC_OVERRIDE

We have managed to solve the transformations and now get the correct tag detection.
But even with fixed_frame_filter_len set to 1, QVIO and OpenVins are used and we see no relocalisation happening.

Does someone have a working example which we can look at, please?

@claw You'll need to change the parameter COM_RC_OVERRIDE to also allow overriding offboard mode.

Reference link : https://docs.px4.io/main/en/advanced_config/parameter_reference.html#COM_RC_OVERRIDE

@James-Strawson @Eric-Katzfey,
Can you show a working example on a dual camera config, please?
Both flat on the ground as against a wall.
This would help us a lot!

Thanks in advance,
Maarten

@GlennTee the problem lies in a mismatch between the topics which you see using "ros2 topic list" and the publishers from the offboard_control node.

The ros2 node has publishers defined as follows:

	OffboardControl() : Node("offboard_control")
	{

		offboard_control_mode_publisher_ = this->create_publisher<OffboardControlMode>("/fmu/in/offboard_control_mode", 10);
		trajectory_setpoint_publisher_ = this->create_publisher<TrajectorySetpoint>("/fmu/in/trajectory_setpoint", 10);
		vehicle_command_publisher_ = this->create_publisher<VehicleCommand>("/fmu/in/vehicle_command", 10);

Do you know where you changed the prefix uav_4?
I can't remember where to configure it.

So, you can change the ROS2 code, rebuild and it should work. Or remove the uav_4 prefix

@James-Strawson we are still trying to understand this behaviour.
After several tests, we noticed that with the default SDK 1.4.1 on Starling 2 Max with C29 camera config :

• If holding an apriltag in front of the front-tracking camera ([[0, 0, 1], [1, 0, 0], [0, 1, 0]]), we need to turn it counterclockwise 90 degrees to not have the "out of bounds" error
• If holding an apriltag at the bottom camera ([[0, -1, 0], [1, 0, 0], [0, 0, 1]]), we are unable to remote the error

We have found this as well : https://forum.modalai.com/topic/2653/stereo-tag-detection-warning-apriltag-roll-pitch-out-of-bounds?_=1741697621820
However, this code also keeps giving strange out of bounds errors.
Is it possible to show a working tag_locations.conf for both a tag on the ground and a tag against the wall?
We are not really experienced in the transforms needed and it seems like a problem with that

@Eric-Katzfey, @Randy-Mackay After some more tests, we managed to get everything working.

Mission Planner on clean Windows device still had port 14550 blocked for some reason.
After a full reboot, it worked with initiating connection from the drone to the GCS.

On Mac OS, using Mission Planner via Parallels Desktop : Here, you'll need to add port forwarding of UDP Port 14550.
We've used a Shared Network and it also connect automatically from the drone to the GCS.

Thanks for your insights!

@Eric-Katzfey
We reflashed to SDK 1.3.5 and did the installation of Ardupilot again. (Build : https://firmware.ardupilot.org/Copter/latest/QURT/voxl-ardupilot_ArduCopter_4.7.0-76aed8f8_arm64.deb)

Output of voxl-version:

--------------------------------------------------------------------------------
system-image: 1.7.10-M0054-14.1a-perf
kernel:       #1 SMP PREEMPT Fri Sep 27 21:59:02 UTC 2024 4.19.125
--------------------------------------------------------------------------------
hw platform:  M0054
mach.var:     1.0.1
--------------------------------------------------------------------------------
voxl-suite:   1.3.5
--------------------------------------------------------------------------------
Packages:
Repo:  http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-1.3/binary-arm64/
Last Updated: 2023-03-02 12:58:39
WARNING: repo file has changed since last update,
	packages may have originated from a different repo
List:
kernel-module-voxl-fsync-mod-4.19.125     1.0-r0
kernel-module-voxl-gpio-mod-4.19.125      1.0-r0
kernel-module-voxl-platform-mod-4.19.125  1.0-r0
libfc-sensor                              1.0.7
libmodal-cv                               0.5.11
libmodal-exposure                         0.1.1
libmodal-journal                          0.2.2
libmodal-json                             0.4.3
libmodal-pipe                             2.10.2
libqrb5165-io                             0.4.6
libvoxl-cci-direct                        0.2.3
libvoxl-cutils                            0.1.1
modalai-slpi                              1.1.19
mv-voxl                                   0.1-r0
qrb5165-bind                              0.1-r0
qrb5165-dfs-server                        0.2.0
qrb5165-imu-server                        1.0.1
qrb5165-rangefinder-server                0.1.3
qrb5165-slpi-test-sig                     01-r0
qrb5165-system-tweaks                     0.3.0
qrb5165-tflite                            2.8.0-2
voxl-ardupilot                            4.7.0-76aed8f8
voxl-bind-spektrum                        0.1.1
voxl-camera-calibration                   0.5.7
voxl-camera-server                        2.0.1
voxl-ceres-solver                         2:1.14.0-10
voxl-configurator                         0.8.5
voxl-cpu-monitor                          0.4.8
voxl-docker-support                       1.3.1
voxl-elrs                                 0.2.2
voxl-esc                                  1.4.7
voxl-feature-tracker                      0.4.1
voxl-flow-server                          0.3.6
voxl-fsync-mod                            1.0-r0
voxl-gphoto2-server                       0.0.10
voxl-gpio-mod                             1.0-r0
voxl-jpeg-turbo                           2.1.3-5
voxl-lepton-server                        1.2.3
voxl-lepton-tracker                       0.0.2
voxl-libgphoto2                           0.0.4
voxl-libuvc                               1.0.7
voxl-logger                               0.4.7
voxl-mavcam-manager                       0.5.7
voxl-mavlink                              0.1.1
voxl-mavlink-server                       1.4.2
voxl-modem                                1.1.3
voxl-mongoose                             7.7.0-1
voxl-mpa-to-ros                           0.3.9
voxl-mpa-tools                            1.2.3
voxl-neopixel-manager                     0.0.3
voxl-open-vins                            0.4.14
voxl-open-vins-server                     0.2.75
voxl-opencv                               4.5.5-2
voxl-osd                                  0.0.1
voxl-platform-mod                         1.0-r0
voxl-portal                               0.7.0
voxl-px4                                  1.14.0-2.0.84
voxl-px4-imu-server                       0.1.2
voxl-px4-params                           0.5.3
voxl-qvio-server                          1.0.4
voxl-remote-id                            0.0.9
voxl-reset-slpi                           0.0.1
voxl-state-estimator                      0.0.2
voxl-streamer                             0.7.4
voxl-suite                                1.3.5
voxl-tag-detector                         0.0.4
voxl-tflite-server                        0.3.4
voxl-utils                                1.4.3
voxl-uvc-server                           0.1.7
voxl-vision-hub                           1.8.9
voxl-vtx                                  1.1.0
voxl2-io                                  0.0.3
voxl2-system-image                        1.7.10-r0
voxl2-wlan                                1.0-r0
--------------------------------------------------------------------------------

Output of voxl-inspect-services before disabling services:

Scanning services...

 Service Name             |  Enabled  |   Running   |  CPU Usage
-------------------------------------------------------------------
 docker-autorun           | Disabled  | Not Running |  
 modallink-relink         | Disabled  | Not Running |  
 voxl-ardupilot           |  Enabled  |   Running   |     0.0%
 voxl-auto-logger         | Disabled  | Not Running |  
 voxl-camera-server       |  Enabled  |   Running   |   130.0%
 voxl-cpu-monitor         |  Enabled  |   Running   |     0.3%
 voxl-dfs-server          | Disabled  | Not Running |  
 voxl-feature-tracker     | Disabled  | Not Running |  
 voxl-flow-server         | Disabled  | Not Running |  
 voxl-imu-server          |  Enabled  |   Running   |     3.9%
 voxl-lepton-server       | Disabled  | Not Running |  
 voxl-lepton-tracker      | Disabled  | Not Running |  
 voxl-logger              | Disabled  | Not Running |  
 voxl-mavcam-manager      |  Enabled  |   Running   |     0.0%
 voxl-mavlink-server      |  Enabled  |   Running   |     1.2%
 voxl-modem               | Disabled  | Not Running |  
 voxl-neopixel-manager    | Disabled  | Not Running |  
 voxl-open-vins-server    | Disabled  | Not Running |  
 voxl-osd                 | Disabled  | Not Running |  
 voxl-portal              |  Enabled  |   Running   |     0.1%
 voxl-px4-imu-server      | Disabled  | Not Running |  
 voxl-px4                 | Disabled  | Not Running |  
 voxl-qvio-server         |  Enabled  |   Running   |     4.0%
 voxl-rangefinder-server  |  Enabled  |   Running   |     0.5%
 voxl-remote-id           | Disabled  | Not Running |  
 voxl-softap              | Disabled  | Not Running |  
 voxl-state-estimator     | Disabled  | Not Running |  
 voxl-static-ip           | Disabled  | Not Running |  
 voxl-streamer            |  Enabled  |   Running   |     0.2%
 voxl-tag-detector        | Disabled  | Not Running |  
 voxl-tflite-server       | Disabled  | Not Running |  
 voxl-time-sync           | Disabled  | Not Running |  
 voxl-uvc-server          | Disabled  | Not Running |  
 voxl-vision-hub          |  Enabled  |   Running   |     5.4%
 voxl-vrx                 | Disabled  | Not Running |  
 voxl-vtx                 | Disabled  | Not Running |  
 voxl-wait-for-fs         |  Enabled  |  Completed  |

Output of voxl-inspect-services after disabling services:
voxl2:~$ voxl-inspect-services

Scanning services...

 Service Name             |  Enabled  |   Running   |  CPU Usage
-------------------------------------------------------------------
 docker-autorun           | Disabled  | Not Running |  
 modallink-relink         | Disabled  | Not Running |  
 voxl-ardupilot           |  Enabled  |   Running   |     0.0%
 voxl-auto-logger         | Disabled  | Not Running |  
 voxl-camera-server       | Disabled  | Not Running |  
 voxl-cpu-monitor         | Disabled  | Not Running |  
 voxl-dfs-server          | Disabled  | Not Running |  
 voxl-feature-tracker     | Disabled  | Not Running |  
 voxl-flow-server         | Disabled  | Not Running |  
 voxl-imu-server          | Disabled  | Not Running |  
 voxl-lepton-server       | Disabled  | Not Running |  
 voxl-lepton-tracker      | Disabled  | Not Running |  
 voxl-logger              | Disabled  | Not Running |  
 voxl-mavcam-manager      | Disabled  | Not Running |  
 voxl-mavlink-server      |  Enabled  | Not Running |  
 voxl-modem               | Disabled  | Not Running |  
 voxl-neopixel-manager    | Disabled  | Not Running |  
 voxl-open-vins-server    | Disabled  | Not Running |  
 voxl-osd                 | Disabled  | Not Running |  
 voxl-portal              | Disabled  | Not Running |  
 voxl-px4-imu-server      | Disabled  | Not Running |  
 voxl-px4                 | Disabled  | Not Running |  
 voxl-qvio-server         | Disabled  | Not Running |  
 voxl-rangefinder-server  | Disabled  | Not Running |  
 voxl-remote-id           | Disabled  | Not Running |  
 voxl-softap              | Disabled  | Not Running |  
 voxl-state-estimator     | Disabled  | Not Running |  
 voxl-static-ip           | Disabled  | Not Running |  
 voxl-streamer            | Disabled  | Not Running |  
 voxl-tag-detector        | Disabled  | Not Running |  
 voxl-tflite-server       | Disabled  | Not Running |  
 voxl-time-sync           | Disabled  | Not Running |  
 voxl-uvc-server          | Disabled  | Not Running |  
 voxl-vision-hub          | Disabled  | Not Running |  
 voxl-vrx                 | Disabled  | Not Running |  
 voxl-vtx                 | Disabled  | Not Running |  
 voxl-wait-for-fs         |  Enabled  |  Completed  |

Output of netstat -tuln:

Active Internet connections (only servers)
Proto Recv-Q Send-Q Local Address           Foreign Address         State      
tcp        0      0 127.0.0.53:53           0.0.0.0:*               LISTEN     
tcp        0      0 0.0.0.0:22              0.0.0.0:*               LISTEN     
tcp        0      0 0.0.0.0:8900            0.0.0.0:*               LISTEN     
tcp        0      0 127.0.0.1:5037          0.0.0.0:*               LISTEN     
tcp        0      0 0.0.0.0:80              0.0.0.0:*               LISTEN     
tcp6       0      0 :::22                   :::*                    LISTEN     
udp        0      0 127.0.0.53:53           0.0.0.0:*                          
udp        0      0 0.0.0.0:68              0.0.0.0:*                          
udp        0      0 0.0.0.0:69              0.0.0.0:*                          
udp        0      0 0.0.0.0:14550           0.0.0.0:*                          
udp        0      0 0.0.0.0:14556           0.0.0.0:*                          
udp        0      0 127.0.0.1:14557         0.0.0.0:*                          
udp        0      0 0.0.0.0:14558           0.0.0.0:*                          
udp        0      0 127.0.0.1:14559         0.0.0.0:*                          
udp6       0      0 :::69                   :::*

Connection over USB using Mission Planner => Starts the connection and then times out (Tried baud rates 115200 (default AP) and 921600 (Configured in voxl-mavlink-server.conf))

Station Mode tests (every time restarted voxl-mavlink-server)
Connection using MavProxy on 14550 : Failed to connect to udp:150.0.0.221:14550 : [Errno 49] Can't assign requested address
Connection using MavProxy on 14556 : Failed to connect to udp:150.0.0.221:14556 : [Errno 49] Can't assign requested address
Connection using MavProxy on 14557 : Failed to connect to udp:150.0.0.221:14557 : [Errno 49] Can't assign requested address
Connection using MavProxy on 14558 : Failed to connect to udp:150.0.0.221:14558 : [Errno 49] Can't assign requested address
Connection using MavProxy on 14559 : Failed to connect to udp:150.0.0.221:14559 : [Errno 49] Can't assign requested address

Connection using QGroundControl over port 14550 : Connected successfully

Connection using Mission Planner on UDP port 14550 :

Only one usage of each socket address (protocol/network address/port) is normally permitted

   at System.Net.Sockets.Socket.DoBind(EndPoint endPointSnapshot, SocketAddress socketAddress)
   at System.Net.Sockets.Socket.Bind(EndPoint localEP)
   at MissionPlanner.Comms.UdpSerial.Open() in C:\Users\mich1\Desktop\CubePilot\MissionPlanner\ExtLibs\Comms\CommsUdpSerial.cs:line 130
   at MissionPlanner.MAVLinkInterface.OpenBg(IProgressReporterDialogue PRsender, Boolean getparams) in C:\Users\mich1\Desktop\CubePilot\MissionPlanner\ExtLibs\ArduPilot\Mavlink\MAVLinkInterface.cs:line 886
   at MissionPlanner.Controls.ProgressReporterDialogue.RunBackgroundOperation(Object o) in C:\Users\mich1\Desktop\CubePilot\MissionPlanner\ExtLibs\Controls\ProgressReporterDialogue.cs:line 111

Deleted the primary_static_gcs_ip from voxl-mavlink-server.conf
Connection using Mission Planner with UDPCI on 14550 : Times out after 30 Seconds
The log in voxl-mavlink-server show some sort of connection but the loses it because of the timeout

voxl2:~$ voxl-mavlink-server
loading our own config file
=================================================================
Parameters as loaded from config file:
primary_static_gcs_ip:        
secondary_static_gcs_ip:      192.168.8.11
onboard_port_to_autopilot:    14556
onboard_port_from_autopilot:  14557
gcs_port_to_autopilot:        14558
gcs_port_from_autopilot:      14559
en_external_uart_ap:          0
autopilot_uart_bus:           1
autopilot_uart_baudrate:      921600
autopilot_mission_delay_start:      -1
udp_mtu:                      0
gcs_timeout_s                 4.50
en_external_ap_timesync:      1
en_external_ap_heartbeat:     1
=================================================================
starting receive thread for onboard channel from autopilot
starting receive thread for gcs channel from autopilot
CONNECTED to autopilot on gcs channel
Not connecting to primary gcs ip: 
Adding secondary manual gcs IP address to udp connection list: 192.168.8.11
Added new UDP connection to 192.168.8.11
Init complete, entering main loop
CONNECTED to autopilot on onboard channel
Detected Autopilot Mavlink SYSID 1
Added new UDP connection to 150.0.0.185
CONNECTED to GCS at 150.0.0.185
DISCONNECTED FROM GCS 150.0.0.185

SoftAP Mode tests (every time restarted voxl-mavlink-server):
Exactly the same results

I'm going to try to take a capture of the traffic and compare the differences between QGroundControl and Mission Planner and revert back to you with more information

Hi @Eric-Katzfey ,
Also in AP mode we have the same issues.
We both tried with the GCS IPs configured in voxl-mavlink-server.conf (connection initiated by Voxl) as well as GCS IP as “” and initiating the connection from the GCS.

Hi @Randy-Mackay ,

Thank you for your help.
I followed the guide at https://docs.modalai.com/voxl-ardupilot/ and used the latest image available on the 17th of February.
The problem seems to be related to the mavlink heartbeats not (frequently enough) being send as far as I can debug, but maybe I'm chasing ghosts.

QGC and MavProxy work most of the time.
QGC can always connect but when arming, I sometimes get the message that the vehicle did not arm while physically it is.
MavProxy works approx. 50% of the time and the rest fails with "[Errno 49] Can't assign requested address"
This was tested on 2 different laptops to exclude problems on 1 certain laptop

@Eric-Katzfey Hi Eric,
We've tested on Windows laptop, which was able to connect using Serial and UDP to another Ardupilot device.
However, our Starling keeps not getting connection.
When we initiate from the drone, no connection is established and when we initiate from Mission Planner, it seems like it starts the connection but no heartbeats are received.

Is there maybe some specific implementation of voxl-mavlink-server which we must install?
On a sidenote : is the code for voxl-ardupilot available? Because I couldn't find it on Gitlab.