Best posts made by Cliff Wong

Hi there, Yes, let's check the camera stream:

on your host computer, in a terminal, run: "xhost +"

power up rb5, ssh login: "ssh root@10.8.0.x -X" (make sure you have the -X option)
In the rb5 ssh session, run the following:

systemctl stop rb5-streamer   

Then run in the ssh session:

gst-launch-1.0 -v qtiqmmfsrc video_0::bitrate=100000 camera=3 ! video/x-raw,format=NV12,width=640,height=480,framerate=15/1 ! videoconvert ! xvimagesink 

If you get no video, then we have a camera/streamer issue (unlikely). Power cycle and confirm again that there's no video.

But If you get video, then disable rb5-streamer via:

rb5-streamer-configure (choose '2')

power cycle rb5, again, ssh back in and manually run the streamer via:

rb5-streamer -d -c 3

and try to connect via vlc/qgc, the debug output will show a connection of 1 when connected. If not, then there should be output on the issues, If there is no debug output (and stays '0') then there is a network restriction (e.g. bandwidth is too little) issue. Re enable the streamer by running rb5-streamer-configure (choose '1').

@berayksl Hi there. being 1.4.3, you may want check the parameter in /etc/modalai/voxl-vision-hub.conf that:
"en_vio": true,

Also, on some setups we noticed added latency that triggers the PX4's EV timeout and could explain the "invalid setpoint" log message. In PX4 please set EKF2_NOAID_TOUT parameter in QGC to 8000000.

Checking the above and before your next test flight, perform a hand test as follows:

1. startup voxl portal & connect to the drone (web browser w/ip addr of the drone as the url--wifi must be running)
2. goto the "vio" tab in portal
3. pick up the drone and move it back and forth, then left and right. You should get something close to a "plus" trajectory in the portal screen (see attached). If it "flies away" then good chance calibration (imu, or camera, extrinsics) is off. If it stays frozen/unresponsive then there's a SDK configuration error.
4. If you can repeat what is shown in the image, that confirms VIO is working properly and likely the above NOAID issue..
   
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if you're still having issues on take off, then you can modify in /etc/modalai/voxl-open-vins-server.conf and try the blind takeoff option by setting "en_vio_always_on": false, but note VIO will not report any movements (vio position will report as if frozen) until you arm the drone.