Hello @Cliff-Wong,
The figure 8 no longer works. It is now crashing into the netting in the room after starting the figure 8 mode. Though, it did in the past.
Here is the screen recording as it was happening Link
I also notice that it seems a sensor on the bottom has come loose due to the crashes sustained while trying to test the navigation. As well as the battery retention clips has broken off. Link
Hello @Cliff-Wong,
If there is any additional information or method I should try, just let me know.
Hello @Cliff-Wong,
I tried reproducing your suggestion. The first time I tried, it seems to work fine. After landing and trying again (I stopped and restarted the voxl-mapper and voxl-vision-hub), I few around to update the map again as it reloaded. I planned a route that was straight ahead for the drone. Instead of following the path shown in the 3D mapper, it flew diagonally upward and hit the ceiling. I captured a video similar to yours to show the result. Also note, I ran the update to get the latest patch version of the voxl sdk. After running the update twice, it updated some packages but the patch number remained 2. So this was run with 1.6.2 sdk version, unless something else messed up with the update. I did capture a log of the update I ran if that would be helpful.
@Cliff-Wong. For completeness below is the output of the start of voxl-vision-hub --debug_offboard. I trimmed the entire output above until the drone started to move from the plan_to command.
Parameters as loaded from config file:
config_file_version: 1
MAVROS / MAVSDK
en_localhost_mavlink_udp 0
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
MISC FEATURES
horizon_cal_tolerance: 0.500000
en_hitl: 0
OFFBOARD MODE
offboard_mode: trajectory
follow_tag_id: 0
figure_eight_move_home: 1
tracking_trigger_ch: 12
tracking_trigger_ch_thresh_temp: 1200
tracking_trigger_ch_thresh_new: 1800
wps_move_home: 1
wps_timeout: 0.000000
wps_damp: 1.000000
wps_vfc_mission: true
wps_vfc_mission_loop: false
wps_vfc_mission_to_ramp: 25.000000
wps_vfc_mission_cruise_speed: 1.000000
wps_vfc_mission_to_kp: 0.100000
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
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 fixed pose input
starting vio manager
Connected to voxl-mavlink-server
Connected to VIO pipe: ov
Geometry module updating to use imu: imu_apps_body for VIO
ERROR in vcc_fetch_extrinsic, failed to find desired extrinsic relation in file
Likely you need to run voxl-configure-extrinsics to make a new file
ERROR: /etc/modalai/extrinsics.conf missing body to imu_apps_body, sticking with identity for now
Detected Autopilot Mavlink SYSID 1
requesting autopilot_version
Detected autopilot version: 1.14.0
starting tag manager
starting voa manager
ERROR in pipe_client_open, channel 11 already running
Connected to VOA input pipe: tof
starting horizon cal module
starting imu manager
starting state manager
starting offboard trajectory
Connected to voxl-mapper
voxl-mapper pipe size is: 65536 bytes
Init complete
Trajectory Monitor connected to voa pointcloud
commanding: XYZ -1.0 -0.1 -2.3 yaw: 0.1
WARNING in VOA manager, no attitude data from px4
Hello @Cliff-Wong,
I collected the output from voxl-vision-hub --debug_offboard and voxl-inspect-vins -n. I place a plan_to point that was about half a meter from the drone and slightly higher in altitude from the drone. I used the arrows to position the plan_to point and rotated camera to ensure the plan_to point it was placed correctly. I reduced the rrt_min_distance and esdf_inner_sphere_radius as suggested. The drone had more than a meter clearance on all sides. The room is empty with no obstacles.
The output from voxl-vision-hub --debug_offboard:
commanding: XYZ -1.0 -0.1 -2.4 yaw: 2.6
commanding: XYZ -1.0 -0.1 -2.4 yaw: 2.6
commanding: XYZ -1.0 -0.1 -2.4 yaw: 2.6
commanding: XYZ -1.0 -0.1 -2.4 yaw: 2.6
commanding: XYZ -1.0 -0.1 -2.4 yaw: 2.6
commanding: XYZ -1.0 -0.1 -2.4 yaw: 2.6
commanding: XYZ -1.0 -0.1 -2.4 yaw: 2.6
commanding: XYZ -1.0 -0.1 -2.4 yaw: 2.6
commanding: XYZ -1.0 -0.1 -2.4 yaw: 2.6
commanding: XYZ -1.0 -0.1 -2.4 yaw: 2.6
commanding: XYZ -1.0 -0.1 -2.4 yaw: 2.6
commanding: XYZ -1.0 -0.1 -2.4 yaw: 2.6
commanding: XYZ -1.0 -0.1 -2.4 yaw: 2.6
commanding: XYZ -1.0 -0.1 -2.4 yaw: 2.6
Setpoint position: XYZ -1.0 -0.1 -0.8 yaw: 0.4
Received trajectory has duration 3.309723 seconds
Received load and start command.
commanding: XYZ -1.0 -0.1 0.1 yaw: 0.4 V: 0.0 0.0 -0.0 A: 0.0 0.0 -0.0
commanding: XYZ -1.0 -0.1 0.1 yaw: 0.5 V: 0.0 0.0 -0.0 A: 0.0 0.0 -0.0
commanding: XYZ -1.0 -0.1 0.1 yaw: 0.4 V: 0.0 0.0 -0.0 A: 0.0 0.0 -0.1
commanding: XYZ -1.0 -0.1 0.1 yaw: 0.4 V: 0.0 0.0 -0.0 A: 0.0 0.0 -0.1
commanding: XYZ -1.0 -0.1 0.1 yaw: 0.4 V: 0.0 0.0 -0.0 A: 0.1 0.0 -0.2
commanding: XYZ -1.0 -0.1 0.1 yaw: 0.4 V: 0.0 0.0 -0.0 A: 0.1 0.0 -0.3
commanding: XYZ -1.0 -0.1 0.1 yaw: 0.4 V: 0.0 0.0 -0.0 A: 0.1 0.1 -0.3
commanding: XYZ -1.0 -0.1 0.1 yaw: 0.4 V: 0.0 0.0 -0.0 A: 0.2 0.1 -0.4
commanding: XYZ -1.0 -0.1 0.1 yaw: 0.4 V: 0.0 0.0 -0.1 A: 0.2 0.1 -0.4
commanding: XYZ -1.0 -0.1 0.1 yaw: 0.4 V: 0.0 0.0 -0.1 A: 0.2 0.1 -0.5
commanding: XYZ -1.0 -0.1 0.1 yaw: 0.4 V: 0.0 0.0 -0.1 A: 0.3 0.1 -0.5
commanding: XYZ -1.0 -0.1 0.1 yaw: 0.4 V: 0.0 0.0 -0.1 A: 0.3 0.1 -0.6
commanding: XYZ -1.0 -0.1 0.1 yaw: 0.4 V: 0.1 0.0 -0.1 A: 0.4 0.1 -0.6
commanding: XYZ -1.0 -0.1 0.1 yaw: 0.4 V: 0.1 0.0 -0.1 A: 0.4 0.1 -0.6
commanding: XYZ -1.0 -0.1 0.1 yaw: 0.4 V: 0.1 0.0 -0.2 A: 0.4 0.2 -0.6
commanding: XYZ -1.0 -0.1 0.1 yaw: 0.4 V: 0.1 0.0 -0.2 A: 0.5 0.2 -0.6
commanding: XYZ -1.0 -0.1 0.1 yaw: 0.4 V: 0.1 0.0 -0.2 A: 0.5 0.2 -0.6
Received trajectory has duration 2.234033 seconds
Received insert command.
commanding: XYZ -1.0 -0.1 0.1 yaw: 0.4 V: 0.1 0.1 -0.2 A: 0.5 0.2 -0.6
commanding: XYZ -1.0 -0.1 0.0 yaw: 0.4 V: 0.2 0.1 -0.3 A: 0.5 0.2 -0.6
commanding: XYZ -1.0 -0.1 0.0 yaw: 0.4 V: 0.2 0.1 -0.3 A: 0.5 0.2 -0.6
commanding: XYZ -1.0 -0.1 0.0 yaw: 0.4 V: 0.2 0.1 -0.3 A: 0.6 0.2 -0.6
commanding: XYZ -1.0 -0.1 0.0 yaw: 0.4 V: 0.2 0.1 -0.3 A: 0.6 0.2 -0.5
commanding: XYZ -1.0 -0.1 0.0 yaw: 0.4 V: 0.2 0.1 -0.3 A: 0.6 0.2 -0.5
commanding: XYZ -0.9 -0.1 -0.0 yaw: 0.4 V: 0.2 0.1 -0.3 A: 0.6 0.2 -0.5
commanding: XYZ -0.9 -0.1 -0.0 yaw: 0.4 V: 0.3 0.1 -0.4 A: 0.6 0.2 -0.5
commanding: XYZ -0.9 -0.1 -0.0 yaw: 0.4 V: 0.3 0.1 -0.4 A: 0.6 0.2 -0.4
commanding: XYZ -0.9 -0.1 -0.0 yaw: 0.4 V: 0.3 0.1 -0.4 A: 0.6 0.2 -0.4
commanding: XYZ -0.9 -0.1 -0.1 yaw: 0.4 V: 0.3 0.1 -0.4 A: 0.6 0.2 -0.4
commanding: XYZ -0.9 -0.1 -0.1 yaw: 0.4 V: 0.3 0.1 -0.4 A: 0.6 0.3 -0.4
commanding: XYZ -0.9 -0.1 -0.1 yaw: 0.4 V: 0.4 0.1 -0.4 A: 0.6 0.3 -0.4
commanding: XYZ -0.9 -0.1 -0.1 yaw: 0.4 V: 0.4 0.2 -0.4 A: 0.6 0.3 -0.4
commanding: XYZ -0.9 -0.1 -0.1 yaw: 0.4 V: 0.4 0.2 -0.4 A: 0.6 0.2 -0.4
commanding: XYZ -0.8 -0.1 -0.1 yaw: 0.4 V: 0.4 0.2 -0.5 A: 0.6 0.2 -0.4
commanding: XYZ -0.8 -0.1 -0.1 yaw: 0.4 V: 0.4 0.2 -0.5 A: 0.6 0.3 -0.4
commanding: XYZ -0.8 -0.1 -0.2 yaw: 0.4 V: 0.4 0.2 -0.5 A: 0.6 0.3 -0.4
commanding: XYZ -0.8 -0.1 -0.2 yaw: 0.4 V: 0.5 0.2 -0.5 A: 0.6 0.3 -0.4
commanding: XYZ -0.8 -0.0 -0.2 yaw: 0.4 V: 0.5 0.2 -0.5 A: 0.6 0.3 -0.3
commanding: XYZ -0.8 -0.0 -0.2 yaw: 0.4 V: 0.5 0.2 -0.5 A: 0.6 0.3 -0.3
commanding: XYZ -0.8 -0.0 -0.2 yaw: 0.4 V: 0.5 0.2 -0.5 A: 0.6 0.2 -0.3
commanding: XYZ -0.7 -0.0 -0.2 yaw: 0.4 V: 0.6 0.2 -0.5 A: 0.6 0.2 -0.3
commanding: XYZ -0.7 -0.0 -0.3 yaw: 0.4 V: 0.6 0.2 -0.5 A: 0.6 0.2 -0.3
commanding: XYZ -0.7 -0.0 -0.3 yaw: 0.4 V: 0.6 0.2 -0.6 A: 0.6 0.2 -0.2
commanding: XYZ -0.7 -0.0 -0.3 yaw: 0.4 V: 0.6 0.2 -0.6 A: 0.6 0.2 -0.2
commanding: XYZ -0.7 0.0 -0.3 yaw: 0.4 V: 0.6 0.3 -0.6 A: 0.5 0.2 -0.2
Received trajectory has duration 1.689594 seconds
Received insert command.
commanding: XYZ -0.6 0.0 -0.3 yaw: 0.4 V: 0.7 0.3 -0.6 A: 0.5 0.2 -0.2
commanding: XYZ -0.6 0.0 -0.4 yaw: 0.4 V: 0.7 0.3 -0.6 A: 0.5 0.2 -0.1
commanding: XYZ -0.6 0.0 -0.4 yaw: 0.4 V: 0.7 0.3 -0.6 A: 0.4 0.2 -0.1
commanding: XYZ -0.6 0.0 -0.4 yaw: 0.4 V: 0.7 0.3 -0.6 A: 0.4 0.1 -0.1
commanding: XYZ -0.5 0.1 -0.4 yaw: 0.4 V: 0.7 0.3 -0.6 A: 0.4 0.1 -0.1
commanding: XYZ -0.5 0.1 -0.4 yaw: 0.4 V: 0.7 0.3 -0.6 A: 0.3 0.1 -0.0
commanding: XYZ -0.5 0.1 -0.5 yaw: 0.4 V: 0.7 0.3 -0.6 A: 0.3 0.1 -0.0
commanding: XYZ -0.5 0.1 -0.5 yaw: 0.4 V: 0.7 0.3 -0.6 A: 0.3 0.1 0.0
Received trajectory has duration 1.165000 seconds
Received insert command.
commanding: XYZ -0.4 0.1 -0.5 yaw: 0.4 V: 0.7 0.3 -0.6 A: 0.2 0.1 0.1
Received trajectory has duration 1.342931 seconds
Received insert command.
commanding: XYZ -0.4 0.1 -0.5 yaw: 0.4 V: 0.7 0.3 -0.6 A: 0.1 0.0 0.1
commanding: XYZ -0.4 0.1 -0.5 yaw: 0.4 V: 0.7 0.3 -0.6 A: 0.1 0.0 0.1
commanding: XYZ -0.4 0.1 -0.5 yaw: 0.4 V: 0.7 0.3 -0.6 A: 0.0 -0.0 0.2
commanding: XYZ -0.3 0.1 -0.6 yaw: 0.4 V: 0.7 0.3 -0.6 A: -0.0 -0.0 0.2
commanding: XYZ -0.3 0.1 -0.6 yaw: 0.4 V: 0.7 0.3 -0.6 A: -0.1 -0.0 0.2
commanding: XYZ -0.3 0.1 -0.6 yaw: 0.4 V: 0.7 0.3 -0.5 A: -0.1 -0.1 0.3
commanding: XYZ -0.3 0.2 -0.6 yaw: 0.4 V: 0.7 0.3 -0.5 A: -0.2 -0.1 0.3
commanding: XYZ -0.2 0.2 -0.6 yaw: 0.4 V: 0.7 0.3 -0.5 A: -0.2 -0.1 0.3
commanding: XYZ -0.2 0.2 -0.7 yaw: 0.4 V: 0.7 0.3 -0.5 A: -0.3 -0.1 0.3
commanding: XYZ -0.2 0.2 -0.7 yaw: 0.4 V: 0.7 0.3 -0.5 A: -0.3 -0.1 0.4
commanding: XYZ -0.2 0.2 -0.7 yaw: 0.4 V: 0.7 0.3 -0.5 A: -0.4 -0.2 0.4
Received trajectory has duration 1.508897 seconds
Received insert command.
commanding: XYZ -0.2 0.2 -0.7 yaw: 0.4 V: 0.7 0.3 -0.5 A: -0.4 -0.2 0.4
commanding: XYZ -0.1 0.2 -0.7 yaw: 0.4 V: 0.7 0.3 -0.5 A: -0.5 -0.2 0.4
commanding: XYZ -0.1 0.2 -0.7 yaw: 0.4 V: 0.7 0.3 -0.5 A: -0.5 -0.2 0.4
commanding: XYZ -0.1 0.2 -0.8 yaw: 0.4 V: 0.6 0.2 -0.4 A: -0.5 -0.2 0.4
commanding: XYZ -0.1 0.2 -0.8 yaw: 0.4 V: 0.6 0.2 -0.4 A: -0.5 -0.2 0.4
commanding: XYZ -0.0 0.2 -0.8 yaw: 0.4 V: 0.6 0.2 -0.4 A: -0.5 -0.2 0.4
commanding: XYZ -0.0 0.3 -0.8 yaw: 0.4 V: 0.5 0.2 -0.4 A: -0.6 -0.2 0.4
commanding: XYZ -0.0 0.3 -0.8 yaw: 0.4 V: 0.5 0.2 -0.3 A: -0.6 -0.2 0.5
commanding: XYZ 0.0 0.3 -0.8 yaw: 0.4 V: 0.5 0.2 -0.3 A: -0.6 -0.2 0.5
commanding: XYZ 0.0 0.3 -0.8 yaw: 0.4 V: 0.5 0.2 -0.3 A: -0.7 -0.3 0.5
commanding: XYZ 0.0 0.3 -0.8 yaw: 0.4 V: 0.5 0.2 -0.3 A: -0.7 -0.3 0.5
commanding: XYZ 0.1 0.3 -0.8 yaw: 0.4 V: 0.4 0.2 -0.3 A: -0.7 -0.3 0.5
commanding: XYZ 0.1 0.3 -0.9 yaw: 0.4 V: 0.4 0.2 -0.3 A: -0.7 -0.3 0.5
commanding: XYZ 0.1 0.3 -0.9 yaw: 0.4 V: 0.4 0.1 -0.2 A: -0.7 -0.3 0.5
commanding: XYZ 0.1 0.3 -0.9 yaw: 0.4 V: 0.3 0.1 -0.2 A: -0.5 -0.2 0.4
commanding: XYZ 0.1 0.3 -0.9 yaw: 0.4 V: 0.3 0.1 -0.2 A: -0.5 -0.2 0.4
commanding: XYZ 0.1 0.3 -0.9 yaw: 0.4 V: 0.3 0.1 -0.2 A: -0.5 -0.2 0.4
commanding: XYZ 0.1 0.3 -0.9 yaw: 0.4 V: 0.3 0.1 -0.2 A: -0.5 -0.2 0.4
commanding: XYZ 0.1 0.3 -0.9 yaw: 0.4 V: 0.2 0.1 -0.2 A: -0.5 -0.2 0.3
commanding: XYZ 0.1 0.3 -0.9 yaw: 0.4 V: 0.2 0.1 -0.1 A: -0.5 -0.2 0.3
commanding: XYZ 0.1 0.3 -0.9 yaw: 0.4 V: 0.2 0.1 -0.1 A: -0.5 -0.2 0.3
commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.2 0.1 -0.1 A: -0.5 -0.2 0.3
commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.2 0.1 -0.1 A: -0.5 -0.2 0.3
commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.2 0.1 -0.1 A: -0.5 -0.2 0.3
commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.2 0.1 -0.1 A: -0.4 -0.2 0.3
commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.1 0.1 -0.1 A: -0.4 -0.2 0.3
commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.1 0.0 -0.1 A: -0.4 -0.1 0.3
commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.1 0.0 -0.1 A: -0.4 -0.1 0.2
commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.1 0.0 -0.1 A: -0.4 -0.1 0.2
commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.1 0.0 -0.1 A: -0.3 -0.1 0.2
commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.1 0.0 -0.0 A: -0.3 -0.1 0.2
commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.1 0.0 -0.0 A: -0.3 -0.1 0.2
commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.1 0.0 -0.0 A: -0.3 -0.1 0.2
commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.0 0.0 -0.0 A: -0.2 -0.1 0.1
commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.0 0.0 -0.0 A: -0.2 -0.1 0.1
commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.0 0.0 -0.0 A: -0.2 -0.1 0.1
commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.0 0.0 -0.0 A: -0.2 -0.1 0.1
commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.0 0.0 -0.0 A: -0.2 -0.1 0.1
commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.0 0.0 -0.0 A: -0.1 -0.1 0.1
commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.0 0.0 -0.0 A: -0.1 -0.0 0.1
commanding: XYZ 0.2 0.3 -0.9 yaw: 0.4 V: 0.0 0.0 -0.0 A: -0.1 -0.0 0.1
commanding: XYZ 0.2 0.3 -0.9 yaw: 0.3 V: 0.0 0.0 -0.0 A: -0.1 -0.0 0.1
commanding: XYZ 0.2 0.3 -0.9 yaw: 0.3 V: 0.0 0.0 -0.0 A: -0.1 -0.0 0.0
commanding: XYZ 0.2 0.3 -0.9 yaw: 0.2 V: 0.0 0.0 -0.0 A: -0.1 -0.0 0.0
commanding: XYZ 0.2 0.3 -0.9 yaw: -2.8 V: -0.0 -0.0 0.0 A: -0.0 -0.0 0.0
commanding: XYZ 0.2 0.3 -0.9 yaw: -2.8 V: -0.0 -0.0 0.0 A: -0.0 -0.0 0.0
commanding: XYZ 0.2 0.3 -0.9 yaw: -2.8 V: -0.0 -0.0 0.0 A: -0.0 -0.0 0.0
Received stop command.
Stopped following trajectory.
commanding: XYZ -1.0 -0.1 -1.5 yaw: 0.5
commanding: XYZ -1.0 -0.1 -1.5 yaw: 0.5
commanding: XYZ -1.0 -0.1 -1.5 yaw: 0.5
commanding: XYZ -1.0 -0.1 -1.5 yaw: 0.5
commanding: XYZ -1.0 -0.1 -1.5 yaw: 0.5
commanding: XYZ -1.0 -0.1 -1.5 yaw: 0.5
commanding: XYZ -1.0 -0.1 -1.5 yaw: 0.5
commanding: XYZ -1.0 -0.1 -1.5 yaw: 0.5
commanding: XYZ -1.0 -0.1 -1.5 yaw: 0.5
commanding: XYZ -1.0 -0.1 -1.5 yaw: 0.5
commanding: XYZ -1.0 -0.1 -1.5 yaw: 0.5
The output from voxl-inspect-vins -n:
dt(ms) | T_imu_wrt_vio (m) |Roll Pitch Yaw (deg)|features|quality| state| error_codes
33.1 | -1.01 -0.14 -0.79| 1.6 -0.5 148.0| 22 | 78% | OKAY |
33.6 | -1.01 -0.14 -0.79| 1.6 -0.4 148.0| 22 | 78% | OKAY |
33.3 | -1.01 -0.14 -0.79| 1.6 -0.4 148.0| 22 | 78% | OKAY |
33.1 | -1.01 -0.14 -0.79| 1.6 -0.4 148.0| 22 | 78% | OKAY |
33.3 | -1.01 -0.14 -0.79| 1.6 -0.4 147.9| 22 | 78% | OKAY |
33.6 | -1.01 -0.14 -0.79| 1.5 -0.4 147.9| 22 | 78% | OKAY |
33.1 | -1.01 -0.14 -0.79| 1.4 -0.4 147.9| 22 | 78% | OKAY |
33.3 | -1.01 -0.14 -0.79| 1.4 -0.4 147.8| 22 | 78% | OKAY |
33.3 | -1.01 -0.14 -0.79| 1.5 -0.5 147.8| 22 | 78% | OKAY |
33.3 | -1.01 -0.14 -0.79| 1.5 -0.5 147.7| 22 | 78% | OKAY |
33.6 | -1.01 -0.14 -0.79| 1.4 -0.5 147.7| 22 | 78% | OKAY |
33.1 | -1.01 -0.14 -0.79| 1.4 -0.5 147.6| 22 | 78% | OKAY |
33.3 | -1.01 -0.15 -0.79| 1.4 -0.4 147.6| 22 | 78% | OKAY |
33.3 | -1.01 -0.15 -0.79| 1.4 -0.5 147.3| 22 | 74% | OKAY |
33.6 | -1.01 -0.15 -0.78| 1.1 -0.6 145.1| 21 | 70% | OKAY |
33.1 | -1.01 -0.14 -0.77| 1.0 -0.6 141.2| 20 | 70% | OKAY |
33.5 | -1.01 -0.14 -0.75| 0.8 -0.7 137.8| 19 | 65% | OKAY |
33.1 | -1.01 -0.14 -0.73| 0.6 -0.7 134.0| 25 | 75% | OKAY |
33.3 | -1.00 -0.14 -0.70| 0.5 -0.6 129.9| 26 | 83% | OKAY |
33.3 | -1.00 -0.14 -0.68| 0.6 -0.5 125.6| 24 | 82% | OKAY |
33.3 | -1.00 -0.14 -0.65| 0.7 -0.4 121.1| 26 | 100% | OKAY |
33.3 | -1.00 -0.13 -0.62| 0.8 -0.2 116.4| 27 | 100% | OKAY |
33.3 | -1.00 -0.13 -0.60| 1.0 -0.1 111.5| 27 | 99% | OKAY |
33.3 | -0.99 -0.13 -0.57| 1.2 0.0 106.5| 23 | 100% | OKAY |
33.3 | -0.99 -0.13 -0.54| 1.3 0.2 101.4| 18 | 73% | OKAY |
33.3 | -0.99 -0.13 -0.52| 1.3 0.3 96.3| 17 | 73% | OKAY |
33.3 | -0.99 -0.13 -0.49| 1.4 0.5 91.1| 17 | 65% | OKAY |
33.4 | -0.98 -0.13 -0.46| 1.4 0.8 85.8| 17 | 69% | OKAY |
33.3 | -0.98 -0.13 -0.43| 1.5 1.0 80.6| 18 | 77% | OKAY |
33.3 | -0.98 -0.13 -0.40| 1.5 1.3 75.2| 17 | 60% | OKAY |
33.3 | -0.98 -0.13 -0.37| 1.5 1.5 70.0| 16 | 52% | OKAY |
33.3 | -0.97 -0.13 -0.34| 1.6 1.6 65.0| 16 | 68% | OKAY |
33.3 | -0.97 -0.13 -0.32| 1.7 1.7 60.3| 13 | 51% | OKAY |
33.3 | -0.97 -0.13 -0.29| 1.8 1.7 56.0| 12 | 68% | OKAY |
33.3 | -0.97 -0.13 -0.26| 2.0 1.7 52.1| 14 | 56% | OKAY |
33.3 | -0.97 -0.13 -0.23| 2.2 1.7 48.5| 18 | 77% | OKAY |
33.5 | -0.97 -0.13 -0.20| 2.3 1.7 45.4| 25 | 99% | OKAY |
33.1 | -0.97 -0.13 -0.17| 2.4 1.9 42.6| 24 | 87% | OKAY |
33.6 | -0.97 -0.13 -0.14| 2.4 1.8 40.1| 27 | 100% | OKAY |
33.1 | -0.97 -0.13 -0.11| 2.4 1.7 37.9| 29 | 100% | OKAY |
33.3 | -0.98 -0.13 -0.08| 2.4 1.4 36.1| 28 | 96% | OKAY |
33.3 | -0.98 -0.13 -0.05| 2.2 1.1 34.4| 26 | 100% | OKAY |
33.3 | -0.98 -0.13 -0.02| 2.1 0.9 33.1| 24 | 91% | OKAY |
33.3 | -0.98 -0.13 0.01| 1.9 0.4 31.9| 28 | 100% | OKAY |
33.3 | -0.99 -0.13 0.04| 1.6 0.0 30.9| 22 | 99% | OKAY |
33.3 | -0.99 -0.12 0.07| 1.4 -0.0 30.1| 23 | 98% | OKAY |
33.3 | -0.99 -0.12 0.10| 1.1 0.1 29.4| 20 | 86% | OKAY |
33.3 | -1.00 -0.12 0.13| 0.6 -0.1 28.9| 16 | 80% | OKAY |
33.3 | -1.00 -0.12 0.13| 2.0 -1.4 28.8| 13 | 60% | OKAY |
33.3 | -1.00 -0.13 0.12| 6.1 -3.1 28.5| 11 | 59% | OKAY |
33.3 | -1.00 -0.13 0.13| 9.5 -2.7 28.3| 15 | 52% | OKAY |
33.3 | -1.00 -0.13 0.13| 8.4 1.1 28.4| 15 | 52% | OKAY |
33.3 | -1.00 -0.14 0.14| 1.3 -0.1 27.9| 16 | 52% | OKAY |
33.3 | -1.00 -0.14 0.14| 0.1 0.6 27.3| 17 | 57% | OKAY |
33.3 | -1.00 -0.14 0.14| 0.7 0.6 27.3| 17 | 57% | OKAY |
33.3 | -1.00 -0.14 0.14| 0.0 0.5 27.2| 16 | 52% | OKAY |
33.3 | -1.00 -0.14 0.14| 0.0 0.7 26.9| 16 | 52% | OKAY |
33.5 | -1.00 -0.13 0.13| 0.1 0.6 27.0| 16 | 52% | OKAY |
33.1 | -1.00 -0.13 0.13| 0.1 0.5 26.9| 16 | 52% | OKAY |
33.5 | -1.00 -0.13 0.13| 0.1 0.6 27.0| 16 | 52% | OKAY |
33.1 | -1.00 -0.13 0.13| 0.1 0.5 26.9| 16 | 52% | OKAY |
33.3 | -1.00 -0.13 0.13| 0.2 0.5 26.9| 20 | 65% | OKAY |
33.3 | -1.00 -0.13 0.13| 0.0 0.6 26.9| 20 | 65% | OKAY |
33.6 | -1.00 -0.13 0.13| 0.0 0.5 26.9| 20 | 65% | OKAY |
33.1 | -1.00 -0.13 0.13| 0.0 0.6 26.9| 20 | 65% | OKAY |
33.3 | -1.00 -0.13 0.13| 0.0 0.6 26.9| 20 | 65% | OKAY |
33.3 | -1.00 -0.13 0.13| 0.0 0.6 26.9| 20 | 65% | OKAY |
33.3 | -1.00 -0.13 0.13| 0.0 0.6 26.9| 20 | 65% | OKAY |
33.3 | -1.00 -0.13 0.13| 0.0 0.6 26.9| 20 | 65% | OKAY |
33.3 | -1.00 -0.13 0.13| 0.0 0.6 26.9| 20 | 65% | OKAY |
33.3 | -1.00 -0.13 0.13| 0.0 0.6 26.9| 20 | 65% | OKAY |
33.3 | -1.00 -0.13 0.13| 0.0 0.6 26.9| 20 | 65% | OKAY |
I am not sure if the Portal is creating/sending the correct point shown on the map. Is there a way to send a point via the command line? I couldn't find anything specific for this.
Hello @ApoorvThapliyal,
Is there anything that looks wrong or off about the configuration? Should I look at any other file in particular?
Hey @ApoorvThapliyal,
Here is the output of the extrinsics:
voxl2:~$ voxl-inspect-extrinsics --all
name: D0014_Starling_2
#0:
parent: imu_apps
child: tracking_front
T_child_wrt_parent: 0.037 0.000 0.001
RPY_parent_to_child: 0.0 90.0 90.0
R_child_to_parent: 0.000 -0.000 1.000
1.000 0.000 -0.000
-0.000 1.000 0.000
#1:
parent: imu_apps
child: tracking_down
T_child_wrt_parent: -0.088 -0.004 0.027
RPY_parent_to_child: 0.0 0.0 180.0
R_child_to_parent: -1.000 -0.000 0.000
0.000 -1.000 -0.000
0.000 0.000 1.000
#2:
parent: imu_apps
child: tracking_rear
T_child_wrt_parent: -0.092 0.016 0.004
RPY_parent_to_child: 0.0 -90.0 -90.0
R_child_to_parent: 0.000 0.000 -1.000
-1.000 0.000 -0.000
0.000 1.000 0.000
#3:
parent: imu_apps
child: hires
T_child_wrt_parent: 0.039 0.000 0.019
RPY_parent_to_child: 0.0 90.0 90.0
R_child_to_parent: 0.000 -0.000 1.000
1.000 0.000 -0.000
-0.000 1.000 0.000
#4:
parent: body
child: imu_apps
T_child_wrt_parent: 0.029 -0.006 -0.016
RPY_parent_to_child: 0.0 0.0 0.0
R_child_to_parent: 1.000 -0.000 0.000
0.000 1.000 -0.000
0.000 0.000 1.000
#5:
parent: body
child: imu_px4
T_child_wrt_parent: 0.004 0.007 -0.016
RPY_parent_to_child: 0.0 0.0 0.0
R_child_to_parent: 1.000 -0.000 0.000
0.000 1.000 -0.000
0.000 0.000 1.000
#6:
parent: imu_apps
child: lepton0_raw
T_child_wrt_parent: -0.085 0.013 0.024
RPY_parent_to_child: 0.0 0.0 90.0
R_child_to_parent: 0.000 -1.000 0.000
1.000 0.000 -0.000
0.000 0.000 1.000
#7:
parent: body
child: tof
T_child_wrt_parent: 0.066 0.009 -0.012
RPY_parent_to_child: 0.0 90.0 180.0
R_child_to_parent: -0.000 -0.000 1.000
0.000 -1.000 -0.000
1.000 0.000 0.000
#8:
parent: body
child: ground
T_child_wrt_parent: 0.000 0.000 0.033
RPY_parent_to_child: 0.0 0.0 0.0
R_child_to_parent: 1.000 -0.000 0.000
0.000 1.000 -0.000
0.000 0.000 1.000
Hello @ApoorvThapliyal,
Is there anything more your teams need to investigate/troubleshoot the issue? Thanks.
Hello ModalAI Team,
My team are interested in purchasing an additional Starling 2 drone. My company, Hitachi America Ltd., has a policy in place that requires that we setup a merchant as a vendor before we can make large purchases. We can't directly purchase from online stores before we finish this process. I have attempted to email contact@modalai.com a few times over a week without any answer. Is there a better way to contact someone to get this setup?
Hello @ApoorvThapliyal,
Yes, I am dragging the point up and panning the camera around to ensure it is roughly the same height as the drone. The line drawn for the path is pretty straight and at the correctly level. The drone just ends up flying down below the point after I have move it.
@ApoorvThapliyal, if you/your team needs anymore information or data, do let me know. Thank you.
For convenience I took out the section that has the trajectory from the voxl-vision-hub logs:
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.8 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.7 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.7 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.7 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.7 yaw: 0.3
commanding: XYZ -0.4 -0.2 -1.7 yaw: 0.3
Received trajectory has duration 1.953539 seconds
Received load and start command.
commanding: XYZ -0.4 -0.2 -1.0 yaw: 0.7 V: 0.0 0.0 -0.0 A: 0.1 0.0 -0.0
commanding: XYZ -0.4 -0.2 -1.0 yaw: 0.7 V: 0.0 0.0 -0.0 A: 0.2 0.2 -0.0
commanding: XYZ -0.4 -0.2 -1.0 yaw: 0.7 V: 0.0 0.0 -0.0 A: 0.3 0.3 -0.0
commanding: XYZ -0.4 -0.2 -1.0 yaw: 0.7 V: 0.0 0.0 -0.0 A: 0.5 0.5 -0.0
commanding: XYZ -0.4 -0.2 -1.0 yaw: 0.7 V: 0.0 0.0 -0.0 A: 0.7 0.6 0.0
commanding: XYZ -0.4 -0.2 -1.0 yaw: 0.7 V: 0.1 0.1 -0.0 A: 0.9 0.7 0.0
commanding: XYZ -0.3 -0.2 -1.0 yaw: 0.7 V: 0.1 0.1 0.0 A: 1.0 0.9 0.0
commanding: XYZ -0.3 -0.2 -1.0 yaw: 0.7 V: 0.1 0.1 0.0 A: 1.1 0.9 0.0
commanding: XYZ -0.3 -0.2 -1.0 yaw: 0.7 V: 0.2 0.2 0.0 A: 1.1 1.0 0.0
commanding: XYZ -0.3 -0.2 -1.0 yaw: 0.7 V: 0.2 0.2 0.0 A: 1.2 1.0 0.0
commanding: XYZ -0.3 -0.2 -1.0 yaw: 0.7 V: 0.3 0.2 0.0 A: 1.2 1.0 0.0
commanding: XYZ -0.3 -0.2 -1.0 yaw: 0.7 V: 0.3 0.3 0.0 A: 1.2 1.0 0.0
commanding: XYZ -0.3 -0.1 -1.0 yaw: 0.7 V: 0.3 0.3 0.0 A: 1.2 1.0 0.0
commanding: XYZ -0.3 -0.1 -1.0 yaw: 0.7 V: 0.4 0.3 0.0 A: 1.1 1.0 0.0
commanding: XYZ -0.3 -0.1 -1.0 yaw: 0.7 V: 0.4 0.4 0.0 A: 1.1 1.0 0.0
commanding: XYZ -0.3 -0.1 -1.0 yaw: 0.7 V: 0.4 0.4 0.0 A: 1.1 1.0 0.0
Received trajectory has duration 1.452853 seconds
Received insert command.
commanding: XYZ -0.3 -0.1 -1.0 yaw: 0.7 V: 0.5 0.4 0.0 A: 1.1 0.9 0.0
commanding: XYZ -0.2 -0.1 -1.0 yaw: 0.7 V: 0.5 0.4 0.0 A: 1.0 0.9 0.0
commanding: XYZ -0.2 -0.1 -1.0 yaw: 0.7 V: 0.5 0.5 0.0 A: 1.0 0.9 0.0
commanding: XYZ -0.2 -0.1 -1.0 yaw: 0.7 V: 0.6 0.5 0.0 A: 0.9 0.8 0.0
commanding: XYZ -0.2 -0.0 -1.0 yaw: 0.7 V: 0.6 0.5 0.0 A: 0.8 0.7 0.1
commanding: XYZ -0.2 -0.0 -1.0 yaw: 0.7 V: 0.6 0.6 0.0 A: 0.8 0.6 0.1
commanding: XYZ -0.1 0.0 -1.0 yaw: 0.7 V: 0.7 0.6 0.0 A: 0.7 0.5 0.1
commanding: XYZ -0.1 0.0 -1.0 yaw: 0.7 V: 0.7 0.6 0.0 A: 0.6 0.5 0.1
commanding: XYZ -0.1 0.0 -1.0 yaw: 0.7 V: 0.7 0.6 0.0 A: 0.5 0.4 0.1
commanding: XYZ -0.1 0.1 -1.0 yaw: 0.7 V: 0.7 0.6 0.0 A: 0.4 0.3 0.0
commanding: XYZ -0.0 0.1 -1.0 yaw: 0.7 V: 0.7 0.6 0.0 A: 0.3 0.2 0.0
commanding: XYZ -0.0 0.1 -1.0 yaw: 0.7 V: 0.7 0.6 0.0 A: 0.2 0.1 0.0
commanding: XYZ 0.0 0.1 -1.0 yaw: 0.7 V: 0.7 0.6 0.0 A: 0.0 0.0 0.0
Received trajectory has duration 0.510237 seconds
Received insert command.
commanding: XYZ 0.0 0.1 -1.0 yaw: 0.7 V: 0.7 0.6 0.0 A: -0.1 -0.1 0.0
commanding: XYZ 0.1 0.2 -1.0 yaw: 0.7 V: 0.7 0.6 0.0 A: -0.2 -0.2 0.0
commanding: XYZ 0.1 0.2 -1.0 yaw: 0.7 V: 0.6 0.5 0.0 A: -0.2 -0.2 0.0
commanding: XYZ 0.1 0.2 -1.0 yaw: 0.7 V: 0.6 0.5 0.0 A: -0.3 -0.2 0.0
commanding: XYZ 0.1 0.2 -1.0 yaw: 0.7 V: 0.6 0.5 0.0 A: -0.4 -0.3 -0.0
commanding: XYZ 0.1 0.2 -1.0 yaw: 0.7 V: 0.6 0.5 0.0 A: -0.5 -0.4 -0.0
commanding: XYZ 0.2 0.3 -1.0 yaw: 0.7 V: 0.6 0.5 0.0 A: -0.6 -0.5 -0.0
commanding: XYZ 0.2 0.3 -1.0 yaw: 0.7 V: 0.6 0.5 0.0 A: -0.7 -0.6 -0.0
commanding: XYZ 0.2 0.3 -1.0 yaw: 0.7 V: 0.5 0.5 0.0 A: -0.7 -0.6 -0.0
commanding: XYZ 0.2 0.3 -1.0 yaw: 0.7 V: 0.5 0.4 0.0 A: -0.7 -0.6 -0.0
commanding: XYZ 0.2 0.3 -1.0 yaw: 0.7 V: 0.5 0.4 0.0 A: -0.8 -0.7 -0.0
commanding: XYZ 0.2 0.3 -1.0 yaw: 0.7 V: 0.5 0.4 0.0 A: -0.8 -0.7 -0.0
commanding: XYZ 0.3 0.3 -1.0 yaw: 0.7 V: 0.4 0.4 0.0 A: -0.8 -0.7 -0.0
commanding: XYZ 0.3 0.4 -1.0 yaw: 0.7 V: 0.4 0.3 0.0 A: -0.8 -0.7 -0.0
commanding: XYZ 0.3 0.4 -1.0 yaw: 0.7 V: 0.4 0.3 0.0 A: -0.8 -0.7 -0.0
commanding: XYZ 0.3 0.4 -1.0 yaw: 0.7 V: 0.4 0.3 0.0 A: -0.7 -0.6 -0.0
commanding: XYZ 0.3 0.4 -1.0 yaw: 0.7 V: 0.3 0.3 0.0 A: -0.5 -0.5 -0.0
commanding: XYZ 0.3 0.4 -1.0 yaw: 0.7 V: 0.3 0.3 0.0 A: -0.4 -0.3 0.0
commanding: XYZ 0.3 0.4 -1.0 yaw: 0.7 V: 0.3 0.3 0.0 A: -0.3 -0.3 0.0
commanding: XYZ 0.3 0.4 -1.0 yaw: 0.7 V: 0.3 0.2 0.0 A: -0.4 -0.4 0.0
commanding: XYZ 0.3 0.4 -1.0 yaw: 0.7 V: 0.3 0.2 0.0 A: -0.6 -0.5 -0.0
commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 V: 0.2 0.2 0.0 A: -0.8 -0.7 -0.0
commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 V: 0.2 0.2 0.0 A: -1.1 -0.9 -0.1
commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 V: 0.2 0.1 0.0 A: -1.3 -1.1 -0.1
commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 V: 0.1 0.1 0.0 A: -1.4 -1.1 -0.1
commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 V: 0.1 0.1 0.0 A: -1.3 -1.1 -0.1
commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 V: 0.0 0.0 0.0 A: -1.0 -0.9 -0.1
commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 V: 0.0 0.0 0.0 A: -0.7 -0.6 -0.1
commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 V: 0.0 0.0 0.0 A: -0.3 -0.2 -0.0
commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 V: 0.0 0.0 0.0 A: -0.0 -0.0 -0.0
commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7 V: -0.0 -0.0 0.0 A: -0.0 -0.0 0.0
FINISHED TRAJECTORY
commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
commanding: XYZ 0.4 0.4 -1.0 yaw: 0.7
commanding: XYZ 0.4 0.5 -1.0 yaw: 0.7
commanding: XYZ 0.4 0.5 -1.0 yaw: 0.7
commanding: XYZ 0.4 0.5 -1.0 yaw: 0.7
commanding: XYZ 0.4 0.5 -1.0 yaw: 0.7
commanding: XYZ 0.4 0.5 -1.0 yaw: 0.7
Hello @ApoorvThapliyal,
I put the log file here: log100.ulg on Filebin.net
I also put the the output from voxl-vision-hub --debug_offboard suggested by @Cliff-Wong in another post in another upload here voxl-vision-hub-log.txt on Filebin.net.
When I attempted the flight, the drone appeared to fly to the correct X and Z coordinates, but it was close to the floor and well below the correct Y coordinate.
Here are a couple of picture of the map and projected route:
And a couple of the map after the drone tried to navigate and ended up below the point:
Hello ModalAI Team,
Please let me know if there is any further information needed. So far, I haven't had the drone successfully navigate in trajectory in any version of the VOXL SDK I've tried (1.4/1.5/1.6).
Hello ModalAI Team,
I am still trying to get the navigation working with my team's Starling 2.
system-image: 1.8.06-M0054-14.1a-perf
kernel: #1 SMP PREEMPT Wed Oct 22 04:13:18 UTC 2025 4.19.125
hw platform: M0054
mach.var: 1.0.1
SKU: MRB-D0014-4-V1-C27-T8-M22-X0
voxl-suite: 1.6.2
I have updated the drone to the latest voxl version 1.6.2. I am able to fly the drone in position mode and figure 8 mode.
I few the drone around for a couple of minutes in our testing room gathering map data. I then switched the drone into offboard_mode: trajectory. I planned a point and saw the projected path drawing a simple straight line. There are not obstacles in the way to navigate around/avoid. The drone just flew directly at the grown instead of following the path. Is there anything I should try software/settings-wise to try and get navigation working? Is there anything about the layout/appearance of a room that could cause this? Please see the attached image.
@Cliff-Wong Thanks! I will try this as soon as possible and report how it works out.
Hello @Cliff-Wong,
Yes, I flew the drone around the room in position mode until the map was generated. I then flipped the remote to offboard with 'trajectory' set. Here are the files below:
/**
If you are running MAVROS/MAVSDK onboard VOXL and wish to open access to
PX4 through a localhost UDP port simply ensure the follow feature is
enabled. This is set to true by default. This will allow one local process
to communicate with PX4 via port 14551 by default, NOT 14550 which is
reserved for connections outside the board. These separation prevents
conflicts between the two sockets. Both MAVROS and MAVSDK can be
configured to use this port.
Port number for localhost UDP socket, default 14551
Enable processing of VIO data from MPA to be sent to PX4 as mavlink
odometry messages. Enabled by default.
Primary pipe to subscribe to for VIO data. Must be a standard libmodal-pipe
vio_data_t type. Default is qvio. If no data is available on this pipe
then voxl-vision-hub will subscribe to secondary_vio_pipe instead.
Secondary pipe to subscribe to for VIO data. Must be a standard libmodal-pipe
vio_data_t type. Default is ov for openvins. If no data is available on this
pipe then voxl-vision-hub will subscribe to the primary vio_pipe instead.
Set to an empty string to disable. Default: ov
For VIO algorithms like qVIO that can initialize in any orientation
and output their estimate of the gravity vector, we suggest leaving
this enabled to allow vvpx4 to automatically send the reset signal
back to the VIO pipe if VIO was initialized upside-down or sufficiently
off-level. Helpful if the user powers on a drone while carrying it to
the flight area and VIO starts too early.
Wait this for this amount of time of having good VIO data before
actually starting to send to PX4. This helps stop EKF2 getting
confused if VIO flickers in and out while struggling to init.
Set to 0 to disable the feature.
On by default. Send Odometry messages to PX4 with a quality of -1 when
VIO indicates a failure so EKF2 can start dead reckoning.
This MAY need to be turned off with PX4 versions older than 1.14
since the quality metric was no implemented prior to PX4 1.14
Enable setting the VOXL system time to GPS time if no NTP server can be
reached via network to set the time.
Force PX4 to use onboard mode for mavlink 1 channel which is the channel
apq8096 (VOXL1) uses to communicate UART Mavlink with PX4. Not applicable
to qrb5165-based platforms. Sets the MAV1_MODE PX4 param.
Trigger a reboot of PX4 one some of PX4's unrecoverable errors,
Not applicable to qrb5165
Yaw estimate error & High Accelerometer Bias and both detected
Allowable standard deviation in roll/pitch values to consider the drone
stable enough in flight to do a PX4 horizon calibration. Default is 0.45,
you can increase this slightly if flying in a small indoor area or with
a drone that does not hold still very well.
See https://docs.modalai.com/calibrate-px4-horizon/
Enable Hardware In The Loop (HITL) testing extensions. Disabled by default.
off: VVPX4 will not send any offboard commands to PX4
figure_eight: Default value, VVPX4 commands PX4 to fly a figure 8 path
follow_tag: Drone will follow an apriltag around. Very dangerous, not
recommended for customer use, for ModalAI R&D only.
trajectory: VVPX4 receives polynomial trajectories by pipe and commands
PX4 to follow the trajectory path. Still in development.
backtrack: Drone will replay, in reverse order, the last few seconds of it's
position including yaw. This is useful when the drone loses
the communication link and needs to get back to a place where
it is able to regain the link. This mode will notice when the
RC link goes away and sends a command to px4 to enter offboard mode.
wps: read waypoints in local coordinate system
Apriltag ID to follow in follow_tag mode
Enable by default, resets the center of the figure 8 path to wherever
the drone is when flipped into offboard mode. When disabled, the drone
will quickly fly back to the XYZ point 0,0,-1.5 in VIO frame before
starting the figure 8. Disabling this feature can be dangerous if VIO
has drifted significantly.
Enable by default, resets the center of the wps path to wherever
the drone is when flipped into offboard mode. When disabled, the drone
will quickly fly back to the XYZ point 0,0,-1.5 in VIO frame before
starting the figure 8. Disabling this feature can be dangerous if VIO
has drifted significantly.
Robot radius to use when checking collisions within the trajectory monitor.
The trajectory monitor is only active when in trajectory mode
The time step to sample along the polynomials by when checking for collisions
in the collision monitor.
Maximum distance to look along the trajectory. Sensor data further out can be
unrealiable so keeping this value small reduces false positives
Number of seconds worth of position data to store for replay in backtrack mode.
RC channel to monitor for transitions into and out of backtrack mode.
Value above which backtrack is considered enabled on the configured RC channel.
Enable fixed frame relocalization via voa_inputs.
See: https://docs.modalai.com/voxl-vision-px4-apriltag-relocalization/
Length of the moving average filter to use for smooth relocalization
when a tag is detected. Default is 5, a longer filter will result in
smoother behavior when a new tag comes into view. Set to 1 to do no
filtering at all and assume every tag detection is accurate.
When enabled, mavlink position_target_local_ned_t commands received on
via UDP will be assumed to be in fixed frame and are then transformed
to local frame before being sent to PX4. This allows offboard mode
position commands from MAVROS/MAVSDK to be in fixed frame relative to
voa_inputs even though PX4/EKF2 operates in local frame relative to where
VIO initialized.
Enable processing of DFS and TOF data to be sent to PX4 as mavlink
obstacle_distance messages for collision prevention in position mode.
VOA ignores obstacles above and below the upper and lower bounds.
Remember, Z points downwards in body and NED frames, so the lower bound
is a positive number, and the upper bound is a negative number.
Defaults are lower: 0.15 upper: -0.15 Units are in meters.
number of seconds to keep track of sensor readings for VOA
default: 1.0
maximum number of sensor samples (points clouds) to fuse for every
mavlink transmision. Default is 100 so that voa_memory_s determines
when to discard old data instead. set this to 1 if you only want to use
the most recent sensor sample for example. If you start severly limiting
the number of point clouds used per fusion, you will also need to lower
voa_pie_threshold.
minimum distance from the drone's center of mass to consider a sensor
sample a valid point for mavlink transmission.
minimum distance from the drone's center of mass to consider a sensor
sample a valid point for mavlink transmission. Note this is and can be
different from the individual sensor limits.
VOA discards points in a bubble under the drone with this radius.
default 1.0. This helps the drone approach an obstacle, stop
ascend, and continue forward smoothly over the top.
Minimum number of points that must appear in and adjacent to a pie
segment to consider it populated. Default 3
Rate to send VOA mavlink data to autopilot. Independent from the
sensor input rates. Default 20
number of slices to divide the 360 degree span around the drone into.
default 36 (10 degree slices)
Radial depth of each bin during the pie binning step. Default 0.15
Array of pipes to subscribe to for use with VOA, up to 10 supported
Each entry has 4 fields:
populated, set to 1 to disable threasholding
*/
{
"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": true,
"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": true,
"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": true,
"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": true,
"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": true,
"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
}]
}
/**
This file contains configuration that's specific to voxl-open-vins-server.
NOTE: all time variables are measured in seconds
OpenVins param breakdown:
do_fej: whether or not to do first estimate Jacobians
imu_avg: whether or not use imu message averaging
use_rk4_integration: if we should use Rk4 imu integration.
cam_to_imu_refinement: whether or not to refine the imu-to-camera pose
cam_intrins_refinement: whether or not to refine camera intrinsics
cam_imu_ts_refinement: whether or not to calibrate cam to IMU time offset
max_clone_size: max clone size of sliding window
max_slam_features: max number of estimated SLAM features
max_slam_in_update: max number of SLAM features in a single EKF update
max_msckf_in_update: max number of MSCKF features used at an image timestep
Feature Reps can be any of the following:
0 - GLOBAL_3D
1 - GLOBAL_FULL_INVERSE_DEPTH
2 - ANCHORED_3D
3 - ANCHORED_FULL_INVERSE_DEPTH
4 - ANCHORED_MSCKF_INVERSE_DEPTH
5 - ANCHORED_INVERSE_DEPTH_SINGLE
feat_rep_msckf: (int) what representation our msckf features are in
feat_rep_slam: (int) what representation our slam features are in
cam_imu_time_offset: time offset between camera and IMU
slam_delay: delay that we should wait from init before estimating SLAM features
gravity_mag: gravity magnitude in the global frame
init_window_time: amount of time to initialize over
init_imu_thresh: variance threshold on our accel to be classified as moving
imu_sigma_w: gyroscope white noise (rad/s/sqrt(hz))
imu_sigma_wb: gyroscope random walk (rad/s^2/sqrt(hz))
imu_sigma_a: accelerometer white noise (m/s^2/sqrt(hz))
imu_sigma_ab: accelerometer random walk (m/s^3/sqrt(hz))
imu_sigma_w_2: gyroscope white noise covariance
imu_sigma_wb_2: gyroscope random walk covariance
imu_sigma_a_2: accelerometer white noise covariance
imu_sigma_ab_2: accelerometer random walk covariance
****_chi2_multiplier: what chi-squared multipler we should apply
****_sigma_px: noise sigma for our raw pixel measurements
****_sigma_px_sq: covariance for our raw pixel measurements
use_stereo: if feed_measurement_camera is called with more than one
image, this determines behavior. if true, they are treated as a stereo
pair, otherwise treated as binocular system
if you enable a camera with stereo in the name, this will be set to true
automatically
try_zupt: if we should try to use zero velocity update
zupt_max_velocity: max velocity we will consider to try to do a zupt
zupt_only_at_beginning: if we should only use the zupt at the very beginning
zupt_noise_multiplier: multiplier of our zupt measurement IMU noise matrix
zupt_max_disparity: max disparity we will consider to try to do a zupt
NOTE: set zupt_max_disparity to 0 for only imu based zupt, and
zupt_chi2_multipler to 0 for only display based zupt
num_pts: number of points we should extract and track in each image frame
fast_threshold: fast extraction threshold
grid_x: number of column-wise grids to do feature extraction in
grid_y: number of row-wise grids to do feature extraction in
min_px_dist: after doing KLT track will remove any features closer than this
knn_ratio: KNN ration between top two descriptor matchers for good match
downsample_cams: will half image resolution
use_nultithreading: if we should use multi-threading for stereo matching
use_mask: if we should load a mask and use it to reject invalid features
*/
{
"en_auto_reset": true,
"auto_reset_max_velocity": 20,
"auto_reset_max_v_cov_instant": 0.10000000149011612,
"auto_reset_max_v_cov": 0.10000000149011612,
"auto_reset_max_v_cov_timeout_s": 0.5,
"auto_reset_min_features": 1,
"auto_reset_min_feature_timeout_s": 3,
"auto_fallback_timeout_s": 3,
"auto_fallback_min_v": 0.600000023841858,
"en_cont_yaw_checks": false,
"fast_yaw_thresh": 5,
"fast_yaw_timeout_s": 1.75,
"do_fej": true,
"imu_avg": true,
"use_rk4_integration": true,
"cam_to_imu_refinement": true,
"cam_intrins_refinement": true,
"cam_imu_ts_refinement": true,
"max_clone_size": 8,
"max_slam_features": 35,
"max_slam_in_update": 10,
"max_msckf_in_update": 10,
"feat_rep_msckf": 4,
"feat_rep_slam": 4,
"cam_imu_time_offset": 0,
"slam_delay": 1,
"gravity_mag": 9.80665,
"init_window_time": 1,
"init_imu_thresh": 1,
"imu_sigma_w": 0.00013990944749616306,
"imu_sigma_wb": 4.1189724174615527e-07,
"imu_sigma_a": 0.0038947538150776763,
"imu_sigma_ab": 5.538346201712153e-05,
"msckf_chi2_multiplier": 1,
"slam_chi2_multiplier": 40,
"zupt_chi2_multiplier": 1,
"refine_features": true,
"pyr_levels": 6,
"grid_x": 5,
"grid_y": 5,
"msckf_sigma_px": 1,
"slam_sigma_px": 1.8,
"zupt_sigma_px": 1,
"try_zupt": true,
"zupt_max_velocity": 0.03,
"zupt_only_at_beginning": true,
"zupt_noise_multiplier": 1,
"zupt_max_disparity": 8,
"init_dyn_use": false,
"triangulate_1d": false,
"max_runs": 5,
"init_lamda": 0.001,
"max_lamda": 10000000000,
"min_dx": 1e-06,
"min_dcost": 1e-06,
"lam_mult": 10,
"min_dist": 0.1,
"max_dist": 60,
"max_baseline": 40,
"max_cond_number": 600000,
"use_mask": false,
"use_stereo": false,
"use_baro": false,
"num_opencv_threads": 4,
"fast_threshold": 15,
"histogram_method": 1,
"knn_ratio": 0.7,
"takeoff_accel_threshold": 0.5,
"takeoff_threshold": -0.1,
"use_stats": false,
"max_allowable_cep": 1,
"en_force_init": false,
"en_force_ned_2_flu": false,
"en_imu_frame_output": false,
"track_frequency": 15,
"publish_frequency": 5,
"en_vio_always_on": true,
"en_ext_feature_tracker": false,
"en_gpu_for_tracking": true,
"num_features_to_track": 20,
"raansac_gn": false,
"raansac_tri": true,
"en_thermal_enhance": false,
"en_overlay_landscape": false,
"thermal_brightness": 1,
"thermal_brightness_bos": 1
}
Hello. Checking in again if assistance can be provided and/or if more information is needed.
Hello. Just checking to see if there is any more data I can provide to help determine the issue. Is there some configuration that allows the drone to fly in the figure-8 without issue but not navigate within the map that has been generated?
@tom Thank you for the assistance on the previous topic. Is there a best way to diagnosis the navigation? The path appears fine, but the drone few straight upward into the ceiling before falling and breaking one of main battery clips next to the LED board.