@Cliff-Wong
Hi,
Thank you for the detailed response and suggestions. I have carefully followed all the steps you mentioned, but unfortunately, the issue persists.
Here is what I did:
1. I edited /etc/modalai/voxl-vision-hub.conf to set the reset parameter to false. Here is my current file:
{
"config_file_version": 1,
"en_localhost_mavlink_udp": false,
"localhost_udp_port_number": 14551,
"en_vio": true,
"vio_pipe": "qvio",
"secondary_vio_pipe": "ov",
"vfc_vio_pipe": "ov",
"en_reset_vio_if_initialized_inverted": false,
"vio_warmup_s": 3,
"send_odom_while_failed": true,
"horizon_cal_tolerance": 0.5,
"en_hitl": false,
"offboard_mode": "trajectory",
"follow_tag_id": 0,
"figure_eight_move_home": true,
"robot_radius": 0.300000011920929,
"collision_sampling_dt": 0.1,
"max_lookahead_distance": 1,
"backtrack_seconds": 60,
"backtrack_rc_chan": 8,
"backtrack_rc_thresh": 1500,
"wps_move_home": true,
"wps_stride": 0,
"wps_timeout": 0,
"wps_damp": 1,
"wps_vfc_mission": true,
"wps_vfc_mission_loop": false,
"wps_vfc_mission_to_ramp": 25,
"wps_vfc_mission_to_kp": 0.10000000149011612,
"wps_vfc_mission_cruise_speed": 1,
"en_tag_fixed_frame": false,
"fixed_frame_filter_len": 5,
"en_transform_mavlink_pos_setpoints_from_fixed_frame": false,
"vfc_rate": 100,
"vfc_rc_chan_min": 980,
"vfc_rc_chan_max": 2020,
"vfc_thrust_ch": 3,
"vfc_roll_ch": 1,
"vfc_pitch_ch": 2,
"vfc_yaw_ch": 4,
"vfc_submode_ch": 6,
"vfc_alt_mode_rc_min": 0,
"vfc_alt_mode_rc_max": 0,
"vfc_flow_mode_rc_min": 0,
"vfc_flow_mode_rc_max": 0,
"vfc_hybrid_flow_mode_rc_min": 0,
"vfc_hybrid_flow_mode_rc_max": 0,
"vfc_position_mode_rc_min": 0,
"vfc_position_mode_rc_max": 2100,
"vfc_traj_mode_rc_min": 0,
"vfc_traj_mode_rc_max": 0,
"vfc_yaw_deadband": 30,
"vfc_vxy_deadband": 50,
"vfc_vz_deadband": 150,
"vfc_min_thrust": 0,
"vfc_max_thrust": 0.800000011920929,
"vfc_tilt_max": 0.43599998950958252,
"vfc_yaw_rate_max": 3,
"vfc_thrust_hover": 0.5,
"vfc_vz_max": 1,
"vfc_kp_z": 5.2899999618530273,
"vfc_kd_z": 5.9800000190734863,
"vfc_vxy_max": 3,
"vfc_kp_xy": 0.63999998569488525,
"vfc_kd_xy": 2.559999942779541,
"vfc_kp_z_vio": 5.2899999618530273,
"vfc_kd_z_vio": 5.9800000190734863,
"vfc_kp_xy_vio": 3.2400000095367432,
"vfc_kd_xy_vio": 3.9600000381469727,
"vfc_w_filt_xy_vio": 10,
"vfc_w_filt_xy_flow": 3,
"vfc_vel_ff_factor_vio": 0.899999976158142,
"vfc_xy_acc_limit_vio": 2.5,
"vfc_max_z_delta": 3,
"vfc_att_transition_time": 0.5,
"vfc_stick_move_threshold": 30,
"vfc_flow_transition_time": 1,
"vfc_q_min": 10,
"vfc_points_min": 7,
"vfc_en_submode_announcement": 1,
"vfc_disable_fallback": false,
"vfc_traj_csv": "/data/voxl-vision-hub/traj.csv",
"en_voa": true,
"voa_upper_bound_m": -0.15000000596046448,
"voa_lower_bound_m": 0.15000000596046448,
"voa_voa_memory_s": 1,
"voa_max_pc_per_fusion": 100,
"voa_pie_max_dist_m": 20,
"voa_pie_min_dist_m": 0.25,
"voa_pie_under_trim_m": 1,
"voa_pie_threshold": 3,
"voa_send_rate_hz": 20,
"voa_pie_slices": 36,
"voa_pie_bin_depth_m": 0.15000000596046448,
"voa_inputs": [{
"enabled": false,
"type": "point_cloud",
"input_pipe": "dfs_point_cloud",
"frame": "stereo_l",
"max_depth": 8,
"min_depth": 0.300000011920929,
"cell_size": 0.079999998211860657,
"threshold": 4,
"x_fov_deg": 68,
"y_fov_deg": 56,
"conf_cutoff": 0
}, {
"enabled": false,
"type": "point_cloud",
"input_pipe": "stereo_front_pc",
"frame": "stereo_front_l",
"max_depth": 8,
"min_depth": 0.300000011920929,
"cell_size": 0.079999998211860657,
"threshold": 4,
"x_fov_deg": 68,
"y_fov_deg": 56,
"conf_cutoff": 0
}, {
"enabled": false,
"type": "point_cloud",
"input_pipe": "stereo_rear_pc",
"frame": "stereo_rear_l",
"max_depth": 8,
"min_depth": 0.300000011920929,
"cell_size": 0.079999998211860657,
"threshold": 4,
"x_fov_deg": 68,
"y_fov_deg": 56,
"conf_cutoff": 0
}, {
"enabled": true,
"type": "tof",
"input_pipe": "tof",
"frame": "tof",
"max_depth": 6,
"min_depth": 0.15000000596046448,
"cell_size": 0.079999998211860657,
"threshold": 3,
"x_fov_deg": 106.5,
"y_fov_deg": 85.0999984741211,
"conf_cutoff": 125
}, {
"enabled": false,
"type": "rangefinder",
"input_pipe": "rangefinders",
"frame": "body",
"max_depth": 8,
"min_depth": 0.300000011920929,
"cell_size": 0.079999998211860657,
"threshold": 4,
"x_fov_deg": 68,
"y_fov_deg": 56,
"conf_cutoff": 0
}]
}
2. I forced the VIO reset right before takeoff.
I ran systemctl restart voxl-qvio-server via SSH just as you suggested, keeping the drone perfectly still on the ground.
3. I verified the extrinsics settings.
I checked /etc/modalai/extrinsics.conf and confirmed that the body to imu parameter is indeed [0, 0, 0].
Here is my current extrinsics file:
{
"name": "starling_v2_voxl2",
"extrinsics": [{
"parent": "imu_apps",
"child": "tracking",
"T_child_wrt_parent": [0.0229, 0.006, 0.023],
"RPY_parent_to_child": [0, 45, 90]
}, {
"parent": "body",
"child": "imu_apps",
"T_child_wrt_parent": [0.0407, -0.006, -0.0188],
"RPY_parent_to_child": [0, 0, 0]
}, {
"parent": "body",
"child": "tof",
"T_child_wrt_parent": [0.068, -0.0116, -0.0168],
"RPY_parent_to_child": [0, 90, 180]
}, {
"parent": "body",
"child": "lepton0_raw",
"T_child_wrt_parent": [-0.06, 0, 0.01],
"RPY_parent_to_child": [0, 0, 90]
}, {
"parent": "body",
"child": "ground",
"T_child_wrt_parent": [0, 0, 0.0309],
"RPY_parent_to_child": [0, 0, 0]
}]
}
Despite doing all of this, the 180-degree rotation (mirror effect) is still happening.
Given that these steps didn't resolve the issue and you mentioned that these anomalies have been corrected in newer versions, would you recommend that my best course of action right now is to flash the drone and upgrade to SDK 1.6.x (or newer) to use the new OpenVINS subsystem?
I would also appreciate it if you could take a look at the files I sent you in this message to make sure everything is correct.
One more thing:
Looking at my SKU (MRB-D0005-4-V2...), is it possible that the tracking camera or the IMU was physically mounted 180° rotated at the factory?
If this is a known hardware discrepancy for this specific batch, should I manually compensate for it in the extrinsics or will the SDK 1.6.x upgrade fix it automatically?
Thanks again for your help!
