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

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.

Hello

I have a question about the VOXL2 mini's extrinsics file and using voxl-qvio-server. I reinstalled the VOXL2 mini SDK 1.0 on to the VOXL2 mini. The extrinsics file has the values for IMU0 and IMU1. When I check voxl-inspect-services, I can see that voxl-imu-server is running.

However voxl-qvio-server is reporting an error when I look at the page using voxl-portal. The error is that IMU_MISSING. I know on the VOXL2 the IMUs are separated as IMU_APP and IMU_PX4. So I tried switching the extrinsics file to the Starling_V2 but then IMU Server is reporting an error.

How can I fix this?

Thank you,
Aaron Porter

@Moderator
Thank you