Hello all, I was doing a bit of testing with voxl-open-vins-server and noticed an issue where the PX4 flight mode remains in position mode when the quality dropped below the the EKF2_EV_QMIN. I am seeing that QGC is sending a message saying that the system is falling back into altitude mode, but the flight mode never changes. I changed the PX4 parameter for EKF2_EV_QMIN to 90, however it seems to stay in position mode even though when I look at the PX4 logs the VIO quality drops below the QMIN value. I tested qvio to see if this was a voxl-px4 issue, but voxl-qvio-server switches into altitude mode when the quality drops below the the QMIN value. My question is why is it that when Open-vins reports that the quality is less than the QMIN it stays in position mode?

Thank you for your time,
Aaron Porter

Question about the frame rate on the voxl cameras. Is there a way to get voxl-camera-server to lock the frame rate regardless of the Exposure? We noticed that auto exposure will cause the camera frame rate to lower on cameras that are in darker locations compared to the cameras that are located in brighter areas. Just asking if there is a way to make it so that we can have a consistent frame rate regardless of where the camera is looking and the lighting in those areas?

Thank you,
Aaron Porter

Question about Voxl-logger. Is there a way to get the camera data that is saved in voxl-logger to have a different format or is the the format locked based on the camera's meta data? What I am asking is there a flag that changes a RAW data stream from the camera to PNG or JPEG?

Thank you for you time,
Aaron Porter

Hello all, I was doing a bit of testing with voxl-open-vins-server and noticed an issue where the PX4 flight mode remains in position mode when the quality dropped below the the EKF2_EV_QMIN. I am seeing that QGC is sending a message saying that the system is falling back into altitude mode, but the flight mode never changes. I changed the PX4 parameter for EKF2_EV_QMIN to 90, however it seems to stay in position mode even though when I look at the PX4 logs the VIO quality drops below the QMIN value. I tested qvio to see if this was a voxl-px4 issue, but voxl-qvio-server switches into altitude mode when the quality drops below the the QMIN value. My question is why is it that when Open-vins reports that the quality is less than the QMIN it stays in position mode?

Thank you for your time,
Aaron Porter

Unsure, if you have resolved this so I am going to attempt to help but I am going to need more information if possible. I am unsure how the setup is for the drone seems like you have one camera (Tracking_rear) pointed straight backwards and two cameras (Tracking_front, Tracking_down) facing forward at a 30 degree downward angle?
I am not sure that you are showing with the log output.
Have you tried hand testing using the command voxl-inspect-pose -l and seeing how RPY and translational movement (moving the drone up, right, forward) are behaving for the local frame?

Question, Is it possible to connect a MIPI cable to the top of a Voxl2 using some of the pins in J5 or J3? So we don't have to touch Kernel stuff but can still use a MIPI camera through Linux if we create the driver.

Thank you for your time,
Aaron Porter

@Alex-Kushleyev

I am following this guide: https://docs.modalai.com/voxl2-io-firmware/
I am trying to install the firmware using STLink

as for the bootl oader it is a ModalAI bootloader already installed I assume based on the blue LED light flash, so it is not a legacy board

I am trying to flash the firmware to the VOXL2 IO board but I am getting an issue using OpenOCD. It seems like the version has changed since the documentation was created.

+ FIRMWARE_FILE=/.../Downloads/m0065_firmware.bin
+ sudo openocd -f /usr/share/openocd/scripts/interface/stlink-v2.cfg -f /usr/share/openocd/scripts/target/stm32f1x.cfg -c 'adapter speed 4000' -c init -c 'sleep 100' -c 'reset halt' -c 'sleep 500' -c 'flash write_image erase /.../Downloads/m0065_firmware.bin  0x08001C00' -c 'reset run' -c exit
Open On-Chip Debugger 0.10.0
Licensed under GNU GPL v2
For bug reports, read
	http://openocd.org/doc/doxygen/bugs.html
Info : auto-selecting first available session transport "hla_swd". To override use 'transport select <transport>'.
Info : The selected transport took over low-level target control. The results might differ compared to plain JTAG/SWD
adapter speed: 1000 kHz
adapter_nsrst_delay: 100
none separate
invalid command name "adapter"

I am on a Linux computer and installed OpenOCD using just apt-get install openocd. I have the ST-Link connect like the diagram shows. And the ST-Link is connected to my computer via USB.
So Honestly I am lost to as to what I am doing wrong?

Thanks in advance,

• Aaron

The Problem:
So we recently ran into an issue where the Actuator Tab in QGroundControl wanted us to Identify and assign the motors for the starling. We tried using voxl-configure-mpa with the sku set to starling. Still we were not able to spin the motors.

The Solution:
We were able to resolve the issue my installing a new version of the SDK onto the starling which resolved the issue we were having.

Hope this helps

Hello,

I am trying to get the VIO Quality on the drone below to be higher than 20% when flying. I am using voxl-inspect-qvio to see the quality in real time while I am moving it manually.
In the beginning when the drone first starts up the quality is good at or around 100%, I can move the drone forward and I see x increasing, move left and y decreases, moving up the z value decreases. Once I start moving the drone the quality drops to 20% and will occasionally restart. I was looking at the documentation post here for troubleshooting VIO issues. I checked the IMU_APPS and saw only green values even when I jostled it a bit. I thought that the light from the lidar that I had behind it was causing some lighting issues so I removed it. Still having the same issue.

I tried getting the extrinsic file values as close to the correct offset values that I can for the tracking camera. The only thing that I can see that Might be an issue is that the camera is not pointed completely straight. But if that is not the issue then I don't really know what else to look at to fix the quality drop.

Thanks,
-Aaron

@Aaron-Porter So I made a mistake that the IMU-server was not running during my screen shots. But I figured out the issue. Yo can use the starling file you have to run the command,

voxl-configure-qvio factory_enable_imu_apps

This will tell qvio-server to look for imu_apps instead of imu0.