ModalAI Forum
    • Categories
    • Recent
    • Tags
    • Popular
    • Users
    • Groups
    • Register
    • Login
    1. Home
    2. Kris
    • Profile
    • Following 7
    • Followers 0
    • Topics 20
    • Posts 193
    • Best 2
    • Controversial 0
    • Groups 0

    Kris

    @Kris

    2
    Reputation
    33
    Profile views
    193
    Posts
    0
    Followers
    7
    Following
    Joined Last Online

    Kris Unfollow Follow

    Best posts made by Kris

    • RE: VIO flight capabilities

      @Steve-Turner
      Thank you for your help.
      I will give that a try.

      posted in GPS-denied Navigation (VIO)
      KrisK
      Kris
    • RE: Stereo Camera Calibration update?

      Thank you Alex, I was finally able to calibrate the stereo cameras and the tracking camera.
      You were spot on with the issue. It was because of the angle and focus on the stereo cameras and the angle on the tracking camera.

      posted in Ask your questions right here!
      KrisK
      Kris

    Latest posts made by Kris

    • RE: Vision Hub Issue
      voxl:/$ voxl-list-pipes -t
      camera_image_metadata_t
      	dfs_disparity
      	dfs_disparity_scaled
      	qvio_overlay
      	stereo
      	tof_conf
      	tof_depth
      	tof_ir
      	tracking
      
      cpu_stats_t
      	cpu_monitor
      
      ext_vio_data_t
      	qvio_extended
      
      imu_data_t
      	imu0
      	imu1
      
      mavlink_message_t
      	mavlink_ap_heartbeat
      	mavlink_attitude
      	mavlink_from_gcs
      	mavlink_gps_raw_int
      	mavlink_local_position_ned
      	mavlink_onboard
      	mavlink_sys_status
      	mavlink_to_gcs
      
      point_cloud_metadata_t
      	dfs_point_cloud
      	tof_pc
      	voa_pc_out
      
      pose_vel_6dof_t
      	vvhub_body_wrt_fixed
      	vvhub_body_wrt_local
      
      string
      	gcs_ip_list
      
      text
      	horizon_cal_io
      
      tof_data_t
      	tof
      
      vio_data_t
      	qvio
      
      
      
      posted in Ask your questions right here!
      KrisK
      Kris
    • RE: Vision Hub Issue

      @Moderator
      Thank you for your reply,
      Yes, I have gone through the troubleshooting guides for VIO.
      Yes, I have looked at the qvio_overlay. It was actually one of the first things I did. Everything looked normal but then suddenly the point percentage would drop from 100% to 0% when the seeker was on the bench.

      1. The seeker performs as usualy in manual flight modes, otherthan the usual low stick throttle when trying to ascend.
      2. It will fly ok in VIO, the main problem is with VOA. I cannot even disable the VOA. After disabling VOA in voxl-vision-hub.conf, nothing changes in PX4. QGC says that VOA is still on and the Seeker does not move in any direction. When VOA is enabled, Obstacle distance remains at 2001,2001,2001,2001.... and does not change when I place my hand in front of the sensors on the Seeker. Then I will try to fly the Seeker with VOA enabled at 0.6 to 1 meter stopping distance, VOA does not work.
      3. qvio_overlay does not indicate any issues.
      4. Enabling and disabling VOA changes things but not in a good way as I mentioned above in #2 response.
      5. I posted the diagnostics of all these issues above in my first post.

      This only happens with voxl_SDK_1.1.0, 1.1.1, 1.1.2, and 1.2.0 releases.
      There are no problems with the voxl_platform_0.9.5 release.

      posted in Ask your questions right here!
      KrisK
      Kris
    • RE: Vision Hub Issue

      I have also reverted the SDK to voxl_platform_0.9.5 and everything was working fine. It does not seem like a hardware issue. So I am wondering why the two newer SDK's are giving me issues with VIO and VOA.

      posted in Ask your questions right here!
      KrisK
      Kris
    • Vision Hub Issue

      Hello, I am having a problem with my VOA and VIO unstable flights.

      I am on the Seeker Voxl1 with a fresh stable release of the voxl_SDK_1.2.0.

      This is the error message when I check my voxl-vision-hub;

      voxl:~$ voxl-vision-hub
      loading our own config file
      =================================================================
      Parameters as loaded from config file:
      config_file_version:        1
      
      MAVROS / MAVSDK
      en_localhost_mavlink_udp    1
      localhost_udp_port_number:  14551
      
      VIO
      en_vio:                     1
      vio_pipe:                   qvio
      secondary_vio_pipe:         ov
      en_reset_vio_if_initialized_inverted: 1
      vio_warmup_s:               3.000000
      send_odom_while_failed:     1
      
      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:              trajectory
      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:         0
      fixed_frame_filter_len:     5
      en_transform_mavlink_pos_setpoints_from_fixed_frame:0
      
      COLLISION PREVENTION (VOA)
      en_voa:                     1
      voa_upper_bound_m:          -0.150000
      voa_lower_bound_m:          0.150000
      voa_memory_s:               1.000000
      voa_max_pc_per_fusion:      100
      voa_pie_min_dist_m:         0.250000
      voa_pie_max_dist_m:         20.000000
      voa_pie_under_trim_m:       1.000000
      voa_pie_threshold:          3
      voa_pie_slices:             36
      voa_pie_bin_depth_m:        0.150000
      voa_send_rate_hz:           20.000000
      
      voa_input #0
          enabled:            1
          type:               point_cloud
          input_pipe:         dfs_point_cloud
          frame:              stereo_l
          max_depth:          8.000000
          min_depth:          0.300000
          cell_size:          0.080000
          threshold:          4
          x_fov_deg:          68.000000
          y_fov_deg:          56.000000
          conf_cutoff:        0
      voa_input #1
          enabled:            1
          type:               point_cloud
          input_pipe:         stereo_front_pc
          frame:              stereo_front_l
          max_depth:          8.000000
          min_depth:          0.300000
          cell_size:          0.080000
          threshold:          4
          x_fov_deg:          68.000000
          y_fov_deg:          56.000000
          conf_cutoff:        0
      voa_input #2
          enabled:            1
          type:               point_cloud
          input_pipe:         stereo_rear_pc
          frame:              stereo_rear_l
          max_depth:          8.000000
          min_depth:          0.300000
          cell_size:          0.080000
          threshold:          4
          x_fov_deg:          68.000000
          y_fov_deg:          56.000000
          conf_cutoff:        0
      voa_input #3
          enabled:            1
          type:               tof
          input_pipe:         tof
          frame:              tof
          max_depth:          6.000000
          min_depth:          0.150000
          cell_size:          0.080000
          threshold:          3
          x_fov_deg:          106.500000
          y_fov_deg:          85.099998
          conf_cutoff:        125
      voa_input #4
          enabled:            1
          type:               rangefinder
          input_pipe:         rangefinders
          frame:              body
          max_depth:          8.000000
          min_depth:          0.300000
          cell_size:          0.080000
          threshold:          4
          x_fov_deg:          68.000000
          y_fov_deg:          56.000000
          conf_cutoff:        0
      =================================================================
      loading extrinsics config file
      loading horizon cal file
      existing instance of voxl-vision-hub found, attempting to stop it
      starting geometry module
      starting autopilot monitor
      starting mavlink IO
      Waiting to connect to voxl-mavlink-server
      Connected to voxl-mavlink-server
      starting mavlink for ros
      starting fixed pose input
      starting vio manager
      Connected to VIO pipe: qvio
      Geometry module updating to use imu: imu1 for VIO
      new T imu wrt body:
       0.0465   0.0332  -0.0130  
      new R imu to body:
       0.0000  -0.0000   1.0000  
       1.0000   0.0000  -0.0000  
      -0.0000   1.0000   0.0000  
      done updating transforms to use imu: imu1
      Detected Autopilot Mavlink SYSID 1
      starting tag manager
      starting voa manager
      Connected to VOA input pipe: dfs_point_cloud
      Connected to VOA input pipe: tof
      starting horizon cal module
      starting offboard trajectory
      Trajectory Monitor connected to voa pointcloud
      Init complete
      ERROR validating TOF2 data received through pipe: read partial packet
      read 693516 bytes, but it should be a multiple of 693516
      make sure you are using a recent voxl-camera-server that publishes a tof2_data_t type
      it's likely you are using an old voxl-camera-server
      WARNING in VOA manager, no attitude data from px4
      requesting autopilot_version
      Detected autopilot version: 1.11.3
      ERROR validating TOF2 data received through pipe: read partial packet
      read 693516 bytes, but it should be a multiple of 693516
      make sure you are using a recent voxl-camera-server that publishes a tof2_data_t type
      it's likely you are using an old voxl-camera-server
      ERROR validating TOF2 data received through pipe: read partial packet
      read 693516 bytes, but it should be a multiple of 693516
      make sure you are using a recent voxl-camera-server that publishes a tof2_data_t type
      it's likely you are using an old voxl-camera-server
      ERROR validating TOF2 data received through pipe: read partial packet
      read 693516 bytes, but it should be a multiple of 693516
      make sure you are using a recent voxl-camera-server that publishes a tof2_data_t type
      it's likely you are using an old voxl-camera-server
      ERROR validating TOF2 data received through pipe: read partial packet
      read 693516 bytes, but it should be a multiple of 693516
      make sure you are using a recent voxl-camera-server that publishes a tof2_data_t type
      it's likely you are using an old voxl-camera-server
      ERROR validating TOF2 data received through pipe: read partial packet
      read 693516 bytes, but it should be a multiple of 693516
      make sure you are using a recent voxl-camera-server that publishes a tof2_data_t type
      it's likely you are using an old voxl-camera-server
      ERROR validating TOF2 data received through pipe: read partial packet
      read 693516 bytes, but it should be a multiple of 693516
      make sure you are using a recent voxl-camera-server that publishes a tof2_data_t type
      it's likely you are using an old voxl-camera-server
      ERROR validating TOF2 data received through pipe: read partial packet
      read 693516 bytes, but it should be a multiple of 693516
      make sure you are using a recent voxl-camera-server that publishes a tof2_data_t type
      it's likely you are using an old voxl-camera-server
      ERROR validating TOF2 data received through pipe: read partial packet
      read 693516 bytes, but it should be a multiple of 693516
      make sure you are using a recent voxl-camera-server that publishes a tof2_data_t type
      it's likely you are using an old voxl-camera-server
      ERROR validating TOF2 data received through pipe: read partial packet
      read 693516 bytes, but it should be a multiple of 693516
      make sure you are using a recent voxl-camera-server that publishes a tof2_data_t type
      it's likely you are using an old voxl-camera-server
      ERROR validating TOF2 data received through pipe: read partial packet
      read 693516 bytes, but it should be a multiple of 693516
      make sure you are using a recent voxl-camera-server that publishes a tof2_data_t type
      it's likely you are using an old voxl-camera-server
      ERROR validating TOF2 data received through pipe: read partial packet
      read 693516 bytes, but it should be a multiple of 693516
      make sure you are using a recent voxl-camera-server that publishes a tof2_data_t type
      it's likely you are using an old voxl-camera-server
      make sure you are using a recent voxl-camera-server that publishes a tof2_data_t type
      it's likely you are using an old voxl-camera-server
      ^C
      received SIGINT Ctrl-C
      Starting shutdown sequence
      stopping offboard trajectory
      exiting offboard trajectory thread
      stopping horizon_cal
      stopping voa manager
      exiting VOA thread
      stopping tag manager
      stopping vio manager
      stopping fixed pose in module
      Stopping mavlink for ros module
      exiting mavlink for ros localhost udp listener thread
      udp mavlink for ros stopped
      Stopping mavlink io module
      waiting for mavlink timer thread to join
      Stopping autopilot monitor
      closing remaining client pipes
      closing remaining server pipes
      Removing PID file
      exiting
      
      

      Here is what is currently running;

      voxl:~$ voxl-inspect-services
      Scanning services...
      
       Service Name             |  Enabled  |   Running   |  CPU Usage
      -------------------------------------------------------------------
       docker-autorun           | Disabled  | Not Running |  
       docker-daemon            | Disabled  | Not Running |  
       modallink-relink         | Disabled  | Not Running |  
       voxl-camera-server       |  Enabled  |   Running   |     6.5%
       voxl-cpu-monitor         |  Enabled  |   Running   |     0.0%
       voxl-dfs-server          |  Enabled  |   Running   |    13.0%
       voxl-imu-server          |  Enabled  |   Running   |     0.0%
       voxl-lepton-server       | Disabled  | Not Running |  
       voxl-mavcam-manager      |  Enabled  |   Running   |     0.0%
       voxl-mavlink-server      |  Enabled  |   Running   |     4.3%
       voxl-modem               | Disabled  | Not Running |  
       voxl-portal              |  Enabled  |   Running   |     0.0%
       voxl-qvio-server         |  Enabled  |   Running   |     6.5%
       voxl-rangefinder-server  | Disabled  | Not Running |  
       voxl-remote-id           | 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          |  Enabled  |   Running   |     2.1%
       voxl-wait-for-fs         |  Enabled  |  Completed  |  
      
      
      voxl:~$ voxl-vision-hub -s
      loading our own config file
      =================================================================
      Parameters as loaded from config file:
      config_file_version:        1
      
      MAVROS / MAVSDK
      en_localhost_mavlink_udp    1
      localhost_udp_port_number:  14551
      
      VIO
      en_vio:                     1
      vio_pipe:                   qvio
      secondary_vio_pipe:         ov
      en_reset_vio_if_initialized_inverted: 1
      vio_warmup_s:               3.000000
      send_odom_while_failed:     1
      
      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:              trajectory
      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:         0
      fixed_frame_filter_len:     5
      en_transform_mavlink_pos_setpoints_from_fixed_frame:0
      
      COLLISION PREVENTION (VOA)
      en_voa:                     1
      voa_upper_bound_m:          -0.150000
      voa_lower_bound_m:          0.150000
      voa_memory_s:               1.000000
      voa_max_pc_per_fusion:      100
      voa_pie_min_dist_m:         0.250000
      voa_pie_max_dist_m:         20.000000
      voa_pie_under_trim_m:       1.000000
      voa_pie_threshold:          3
      voa_pie_slices:             36
      voa_pie_bin_depth_m:        0.150000
      voa_send_rate_hz:           20.000000
      
      voa_input #0
          enabled:            1
          type:               point_cloud
          input_pipe:         dfs_point_cloud
          frame:              stereo_l
          max_depth:          8.000000
          min_depth:          0.300000
          cell_size:          0.080000
          threshold:          4
          x_fov_deg:          68.000000
          y_fov_deg:          56.000000
          conf_cutoff:        0
      voa_input #1
          enabled:            1
          type:               point_cloud
          input_pipe:         stereo_front_pc
          frame:              stereo_front_l
          max_depth:          8.000000
          min_depth:          0.300000
          cell_size:          0.080000
          threshold:          4
          x_fov_deg:          68.000000
          y_fov_deg:          56.000000
          conf_cutoff:        0
      voa_input #2
          enabled:            1
          type:               point_cloud
          input_pipe:         stereo_rear_pc
          frame:              stereo_rear_l
          max_depth:          8.000000
          min_depth:          0.300000
          cell_size:          0.080000
          threshold:          4
          x_fov_deg:          68.000000
          y_fov_deg:          56.000000
          conf_cutoff:        0
      voa_input #3
          enabled:            1
          type:               tof
          input_pipe:         tof
          frame:              tof
          max_depth:          6.000000
          min_depth:          0.150000
          cell_size:          0.080000
          threshold:          3
          x_fov_deg:          106.500000
          y_fov_deg:          85.099998
          conf_cutoff:        125
      voa_input #4
          enabled:            1
          type:               rangefinder
          input_pipe:         rangefinders
          frame:              body
          max_depth:          8.000000
          min_depth:          0.300000
          cell_size:          0.080000
          threshold:          4
          x_fov_deg:          68.000000
          y_fov_deg:          56.000000
          conf_cutoff:        0
      =================================================================
      loading extrinsics config file
      loading horizon cal file
      existing instance of voxl-vision-hub found, attempting to stop it
      starting geometry module
      starting autopilot monitor
      starting mavlink IO
      Waiting to connect to voxl-mavlink-server
      Connected to voxl-mavlink-server
      starting mavlink for ros
      starting fixed pose input
      starting vio manager
      Detected Autopilot Mavlink SYSID 1
      Connected to VIO pipe: qvio
      Geometry module updating to use imu: imu1 for VIO
      new T imu wrt body:
       0.0465   0.0332  -0.0130  
      new R imu to body:
       0.0000  -0.0000   1.0000  
       1.0000   0.0000  -0.0000  
      -0.0000   1.0000   0.0000  
      done updating transforms to use imu: imu1
      starting tag manager
      starting voa manager
      Connected to VOA input pipe: dfs_point_cloud
      Connected to VOA input pipe: tof
      starting horizon cal module
      starting offboard trajectory
      Init complete
      Trajectory Monitor connected to voa pointcloud
      slice  0  dist none back
      slice  1  dist none
      slice  2  dist none
      slice  3  dist none
      slice  4  dist none
      slice  5  dist none
      slice  6  dist none
      slice  7  dist none
      slice  8  dist none
      slice  9  dist none left
      slice 10  dist none
      slice 11  dist none
      slice 12  dist none
      slice 13  dist none
      slice 14  dist none
      slice 15  dist none
      slice 16  dist none
      slice 17  dist none
      slice 18  dist none forward
      slice 19  dist none
      slice 20  dist none
      slice 21  dist none
      slice 22  dist none
      slice 23  dist none
      slice 24  dist none
      slice 25  dist none
      slice 26  dist none
      slice 27  dist none right
      slice 28  dist none
      slice 29  dist none
      slice 30  dist none
      slice 31  dist none
      slice 32  dist none
      slice 33  dist none
      slice 34  dist none
      slice 35  dist none
      
      WARNING in VOA manager, no attitude data from px4
      slice  0  dist none back
      slice  1  dist none
      slice  2  dist none
      slice  3  dist none
      slice  4  dist none
      slice  5  dist none
      slice  6  dist none
      slice  7  dist none
      slice  8  dist none
      slice  9  dist none left
      slice 10  dist none
      slice 11  dist none
      slice 12  dist none
      slice 13  dist none
      slice 14  dist none
      slice 15  dist none
      slice 16  dist none
      slice 17  dist none
      slice 18  dist none forward
      slice 19  dist none
      slice 20  dist 1.91m
      slice 21  dist none
      slice 22  dist none
      slice 23  dist none
      slice 24  dist none
      slice 25  dist none
      slice 26  dist none
      slice 27  dist none right
      slice 28  dist none
      slice 29  dist none
      slice 30  dist none
      slice 31  dist none
      slice 32  dist none
      slice 33  dist none
      slice 34  dist none
      slice 35  dist none
      
      slice  0  dist none back
      slice  1  dist none
      slice  2  dist none
      slice  3  dist none
      slice  4  dist none
      slice  5  dist none
      slice  6  dist none
      slice  7  dist none
      slice  8  dist none
      slice  9  dist none left
      slice 10  dist none
      slice 11  dist none
      slice 12  dist none
      slice 13  dist none
      slice 14  dist none
      slice 15  dist none
      slice 16  dist none
      slice 17  dist none
      slice 18  dist none forward
      slice 19  dist none
      slice 20  dist 1.91m
      slice 21  dist none
      slice 22  dist none
      slice 23  dist none
      slice 24  dist none
      slice 25  dist none
      slice 26  dist none
      slice 27  dist none right
      slice 28  dist none
      slice 29  dist none
      slice 30  dist none
      slice 31  dist none
      slice 32  dist none
      slice 33  dist none
      slice 34  dist none
      slice 35  dist none
      
      ERROR validating TOF2 data received through pipe: read partial packet
      read 693516 bytes, but it should be a multiple of 693516
      make sure you are using a recent voxl-camera-server that publishes a tof2_data_t type
      it's likely you are using an old voxl-camera-server
      
      
      voxl:~$ voxl-version
      --------------------------------------------------------------------------------
      system-image: 4.0.0
      kernel:       #1 SMP PREEMPT Thu Oct 13 17:57:05 UTC 2022 3.18.71-perf
      --------------------------------------------------------------------------------
      hw platform:  VOXL
      mach.var:     1.0
      --------------------------------------------------------------------------------
      voxl-suite:   1.2.0
      --------------------------------------------------------------------------------
      Packages:
      Repo: http://voxl-packages.modalai.com/dists/apq8096/sdk-1.2/binary-arm64/
      Last Updated: 2024-06-28 07:54:15
      List:
      	apq8096-dfs-server          0.3.1
      	apq8096-imu-server          1.1.0
      	apq8096-libpng              1.6.38-1
      	apq8096-rangefinder-server  0.1.3
      	apq8096-system-tweaks       0.2.3
      	apq8096-tflite              2.8.3-1
      	libapq8096-io               0.6.1
      	libmodal-cv                 0.4.0
      	libmodal-exposure           0.1.0
      	libmodal-journal            0.2.2
      	libmodal-json               0.4.3
      	libmodal-pipe               2.10.0
      	libvoxl-cci-direct          0.2.1
      	libvoxl-cutils              0.1.1
      	voxl-camera-calibration     0.5.4
      	voxl-camera-server          1.9.2
      	voxl-configurator           0.5.6
      	voxl-cpu-monitor            0.4.8
      	voxl-docker-support         1.3.1
      	voxl-gphoto2-server         0.0.10
      	voxl-jpeg-turbo             2.1.3-5
      	voxl-lepton-server          1.2.0
      	voxl-libgphoto2             0.0.4
      	voxl-libuvc                 1.0.7
      	voxl-logger                 0.4.0
      	voxl-mavcam-manager         0.5.3
      	voxl-mavlink                0.1.1
      	voxl-mavlink-server         1.4.0
      	voxl-modem                  1.0.9
      	voxl-mongoose               7.7.0-1
      	voxl-mpa-to-ros             0.3.7
      	voxl-mpa-tools              1.1.5
      	voxl-opencv                 4.5.5-2
      	voxl-portal                 0.6.5
      	voxl-qvio-server            1.0.2
      	voxl-remote-id              0.0.9
      	voxl-streamer               0.7.4
      	voxl-suite                  1.2.0
      	voxl-system-image           4.0-r0
      	voxl-tag-detector           0.0.4
      	voxl-tflite-server          0.3.2
      	voxl-utils                  1.3.9
      	voxl-uvc-server             0.1.6
      	voxl-vision-hub             1.7.4
      	voxl-vpn                    0.0.6
      --------------------------------------------------------------------------------
      
      
      voxl:/$ voxl-inspect-qvio
      waiting for server
      
       dt(ms) |    T_imu_wrt_vio (m)   |Roll Pitch Yaw (deg)|features|quality| state||
         30.0 |    0.00    0.00    0.00|  -0.0   -0.1    0.1|    23  |  100% | OKAY |C
      received SIGINT Ctrl-C
      
      closing and exiting
      
      

      voxl-inspect-cam qvio

      | Pipe Name |  bytes  | wide |  hgt |exp(ms)| gain | frame id |latency(ms)|  fpt
      
      ERROR: invalid metadata, magic number=88429860, expected 1448040524
      most likely client fell behind and pipe overflowed
      
      

      voxl-inspect-cam stereo

      | Pipe Name |  bytes  | wide |  hgt |exp(ms)| gain | frame id |latency(ms)|  fpt
      |    stereo |  614400 |  640 |  480 |  5.07 |  125 |     8787 |     28.0  | 30
      

      voxl-inspect-cam tracking

      | Pipe Name |  bytes  | wide |  hgt |exp(ms)| gain | frame id |latency(ms)|  t
      |  tracking |  307200 |  640 |  480 |  5.01 |  100 |    10838 |     12.3  | 3C
      

      voxl-inspect-cam tof

      | Pipe Name |  bytes  | wide |  hgt |exp(ms)| gain | frame id |latency(ms)|  t
      |       tof |       0 |    0 |    0 |  0.00 |    0 |        0 |     25.4  |  8
      ERROR: invalid metadata, magic number=0, expected 1448040524
      most likely client fell behind and pipe overflowed
      
      

      Everything in Voxl Portal seems to be working as normal though.

      posted in Ask your questions right here!
      KrisK
      Kris
    • Video streaming latency/delay

      Hello,
      I was wondering if there is any way to improve the video latency with the Seeker on VOXL1.
      I am currently using RVIZ to stream the stereo or tracking camera video to my host PC (where I am sitting and flying the Seeker), but there is about a 3 second delay in the video. This makes it very difficult to fly the Seeker out of my line of sight.
      I have purchased a new Wi-Fi router to use as an extender/relay hoping to improve the video delay, but that did not work.
      Has there been improvements in this area with the new VOXL1 SDK's?

      posted in Ask your questions right here!
      KrisK
      Kris
    • RE: Streaming Stereo Camera

      voxl-inspect-mavlink mavlink_sys_status

      |   ID  |      Mavlink MSG Name       |Counter|  Hz  |
      |-------|-----------------------------|-------|------|
      |     1 | sys_status                  |    92 |  5.0 |
      
      
      posted in Ask your questions right here!
      KrisK
      Kris
    • RE: Streaming Stereo Camera
      voxl:~$ voxl-inspect-sku
      
      family code:   MRB-D0003 (seeker)
      compute board: 1 (voxl1)
      hw version:    7
      cam config:    7
      SKU:           MRB-D0003-1-V7-C7
      
      
      posted in Ask your questions right here!
      KrisK
      Kris
    • RE: Streaming Stereo Camera
      voxl:~$ systemctl status voxl-mavcam-manager -l
      ● voxl-mavcam-manager.service - voxl-mavcam-manager
         Loaded: loaded (/usr/bin/voxl-mavcam-manager; enabled; vendor preset: enabled)
         Active: failed (Result: signal) since Tue 2024-03-05 01:18:39 UTC; 20min ago
        Process: 17657 ExecStart=/bin/bash -c /usr/bin/voxl-mavcam-manager (code=killed, signal=ABRT)
       Main PID: 17657 (code=killed, signal=ABRT)
      
      Mar 05 01:18:39 apq8096 bash[17657]: snapshot_pipe_name:        tracking
      Mar 05 01:18:39 apq8096 bash[17657]: video_record_pipe_name:    tracking
      Mar 05 01:18:39 apq8096 bash[17657]: default_uri:               rtsp://192.168.110.152:8900/live
      Mar 05 01:18:39 apq8096 bash[17657]: enable_auto_ip:            0
      Mar 05 01:18:39 apq8096 bash[17657]: =================================================================
      Mar 05 01:18:39 apq8096 bash[17657]: Camera name for qgc: Camera 0
      Mar 05 01:18:39 apq8096 bash[17657]: Mavlink server Connected
      Mar 05 01:18:39 apq8096 systemd[1]: voxl-mavcam-manager.service: Main process exited, code=killed, status=6/ABRT
      Mar 05 01:18:39 apq8096 systemd[1]: voxl-mavcam-manager.service: Unit entered failed state.
      Mar 05 01:18:39 apq8096 systemd[1]: voxl-mavcam-manager.service: Failed with result 'signal'.
      
      
      posted in Ask your questions right here!
      KrisK
      Kris
    • RE: Streaming Stereo Camera

      @tom This is what I see.

      voxl:~$ systemctl status voxl-streamer
      ● voxl-streamer.service - voxl-streamer
         Loaded: loaded (/usr/bin/voxl-streamer; enabled; vendor preset: enabled)
         Active: active (running) since Tue 2024-03-05 01:18:42 UTC; 13min ago
        Process: 17793 ExecStartPre=/bin/sleep 5 (code=exited, status=0/SUCCESS)
       Main PID: 17800 (voxl-streamer)
         CGroup: /system.slice/voxl-streamer.service
                 └─17800 /usr/bin/voxl-streamer
      
      Mar 05 01:31:34 apq8096 voxl-streamer[17800]: A new client rtsp://192.168.11...1
      Mar 05 01:31:34 apq8096 voxl-streamer[17800]: Camera server Connected
      Mar 05 01:31:34 apq8096 voxl-streamer[17800]: rtsp client disconnected, tota...0
      Mar 05 01:31:34 apq8096 voxl-streamer[17800]: no more rtsp clients, closing ...y
      Mar 05 01:31:34 apq8096 voxl-streamer[17800]: A new client rtsp://192.168.11...1
      Mar 05 01:31:34 apq8096 voxl-streamer[17800]: Camera server Connected
      Mar 05 01:31:34 apq8096 voxl-streamer[17800]: rtsp client disconnected, tota...0
      Mar 05 01:31:34 apq8096 voxl-streamer[17800]: no more rtsp clients, closing ...y
      Mar 05 01:31:34 apq8096 voxl-streamer[17800]: A new client rtsp://192.168.11...1
      Mar 05 01:31:34 apq8096 voxl-streamer[17800]: Camera server Connected
      Hint: Some lines were ellipsized, use -l to show in full.
      
      
      voxl:~$ systemctl status voxl-streamer -l
      ● voxl-streamer.service - voxl-streamer
         Loaded: loaded (/usr/bin/voxl-streamer; enabled; vendor preset: enabled)
         Active: active (running) since Tue 2024-03-05 01:18:42 UTC; 14min ago
        Process: 17793 ExecStartPre=/bin/sleep 5 (code=exited, status=0/SUCCESS)
       Main PID: 17800 (voxl-streamer)
         CGroup: /system.slice/voxl-streamer.service
                 └─17800 /usr/bin/voxl-streamer
      
      Mar 05 01:33:33 apq8096 voxl-streamer[17800]: no more rtsp clients, closing source pipe intentionally
      Mar 05 01:33:33 apq8096 voxl-streamer[17800]: A new client rtsp://192.168.110.159:48596(null) has connected, total clients: 1
      Mar 05 01:33:33 apq8096 voxl-streamer[17800]: Camera server Connected
      Mar 05 01:33:33 apq8096 voxl-streamer[17800]: rtsp client disconnected, total clients: 0
      Mar 05 01:33:33 apq8096 voxl-streamer[17800]: no more rtsp clients, closing source pipe intentionally
      Mar 05 01:33:33 apq8096 voxl-streamer[17800]: A new client rtsp://192.168.110.159:48604(null) has connected, total clients: 1
      Mar 05 01:33:33 apq8096 voxl-streamer[17800]: Camera server Connected
      Mar 05 01:33:33 apq8096 voxl-streamer[17800]: rtsp client disconnected, total clients: 0
      Mar 05 01:33:33 apq8096 voxl-streamer[17800]: no more rtsp clients, closing source pipe intentionally
      Mar 05 01:33:33 apq8096 voxl-streamer[17800]: A new client rtsp://192.168.110.159:48606(null) has connected, total clients: 1
      
      
      posted in Ask your questions right here!
      KrisK
      Kris
    • RE: Streaming Stereo Camera

      QGC6.jpg

      posted in Ask your questions right here!
      KrisK
      Kris