Here is the log:

-- Logs begin at Thu 1970-01-01 00:01:35 UTC, end at Thu 1970-01-01 00:03:25 UT
C. --
Jan 01 00:01:37 apq8096 systemd[1]: Started voxl-vision-px4.
Jan 01 00:01:38 apq8096 voxl-vision-px4[2018]: ERROR validating VIO data receiv
ed through pipe: read partial packet
Jan 01 00:01:38 apq8096 voxl-vision-px4[2018]: read 156 bytes, but it should be
 a multiple of 324
Jan 01 00:01:38 apq8096 voxl-vision-px4[2018]: ERROR validating VIO data receiv
ed through pipe: read partial packet
Jan 01 00:01:38 apq8096 voxl-vision-px4[2018]: read 156 bytes, but it should be
 a multiple of 324
Jan 01 00:01:38 apq8096 voxl-vision-px4[2018]: ERROR validating VIO data receiv
ed through pipe: read partial packet
Jan 01 00:01:38 apq8096 voxl-vision-px4[2018]: read 156 bytes, but it should be
 a multiple of 324
Jan 01 00:01:38 apq8096 voxl-vision-px4[2018]: ERROR validating VIO data receiv
ed through pipe: read partial packet
Jan 01 00:01:38 apq8096 voxl-vision-px4[2018]: read 156 bytes, but it should be
 a multiple of 324
Jan 01 00:01:38 apq8096 voxl-vision-px4[2018]: ERROR validating VIO data receiv
ed through pipe: read partial packet
Jan 01 00:01:38 apq8096 voxl-vision-px4[2018]: read 156 bytes, but it should be
 a multiple of 324

Hello,

I'm trying to push the VVPX4 package into VOXL without any changes but as soon I reboot the device the VIO pipeline seems to be closed as I get a '0' for both x and y coordinates of the local position. However, all the services are enabled and working (camera, qvio and vision). I have updated the voxl-suite to 0.8.1 but the positioning worked fine after that. It's when I pushed the VVPX4 package that the vio pipeline stops transferring data.

/ # voxl-inspect-services 
 Service Name         |  Enabled  |   Running   |  CPU Usage
---------------------------------------------------------------
 docker-autorun       | Disabled  | Not Running |  
 docker-daemon        | Disabled  | Not Running |  
 modallink-relink     | Disabled  | Not Running |  
 voxl-camera-server   |  Enabled  |   Running   |     5.9
 voxl-cpu-monitor     |  Enabled  |   Running   |     0.0
 voxl-dfs-server      | Disabled  | Not Running |  
 voxl-imu-server      |  Enabled  |   Running   |     1.9
 voxl-mavlink-server  |  Enabled  |   Running   |     1.9
 voxl-modem           | Disabled  | Not Running |  
 voxl-portal          |  Enabled  |   Running   |     0.0
 voxl-qvio-server     |  Enabled  |   Running   |     7.9
 voxl-streamer        | Disabled  | Not Running |  
 voxl-tag-detector    | Disabled  | Not Running |  
 voxl-tflite-server   | Disabled  | Not Running |  
 voxl-time-sync       | Disabled  | Not Running |  
 voxl-vision-px4      |  Enabled  |   Running   |     1.9
 voxl-wait-for-fs     |  Enabled  |  Completed  |  

Here is the voxl-vision-px4 config file:

{
	"imu_name":	"imu0",
	"cam_name":	"tracking",
	"odr_hz":	30,
	"use_camera_height_bootstrap":	true,
	"camera_height_off_ground_m":	0.085000000894069672,
	"enable_init_while_moving":	true,
	"cam_imu_timeshift_s":	-0.0020000000949949026,
	"cam_imu_timeshift_s_uncertainty":	0.0010000000474974513,
	"T_cam_wrt_imu_uncertainty":	[0.00050000002374872565, 0.00050000002374872565, 0.00050000002374872565],
	"R_cam_to_imu_uncertainty":	[0.00499999988824129, 0.00499999988824129, 0.00499999988824129],
	"accl_fsr_ms2":	156,
	"gyro_fsr_rad":	34,
	"accl_noise_std_dev":	0.31600001454353333,
	"gyro_noise_std_dev":	0.00999999977648258,
	"cam_noise_std_dev":	100,
	"min_std_pixel_noise":	0.5,
	"fail_high_pixel_noise_points":	1.6650999784469604,
	"limited_imu_bw_trigger":	35,
	"gps_imu_time_alignment_s":	0,
	"T_gps_wrt_imu":	[-0.11500000208616257, 0.449999988079071, 0.10000000149011612],
	"enable_mapping":	true,
	"enable_gps_vel":	false
}

Hi,

In the VVPX4 configuration file there is an option of choosing the pipe

"vio_pipe":	"qvio"

What other pipes can the vio subscribe to, other than the qvio? Is it possible for it to subscribe to a ROS node?

@Alex-Gardner Got it. Thank you!

Thank you @modaltb.

I'm having trouble deploying VVPX4 to to VOXL. The dependencies not being satisfied are being installed so I'm not sure what to do.

Here is what I'm doing:

voxl-cross:~$ ./install_build_deps.sh apq8096 staging 
using apq8096 staging repo
Downloading http://voxl-packages.modalai.com/dists/apq8096/staging/binary-arm64//Packages.gz.
Updated source 'staging'.
installing: 
libmodal-json
libmodal-pipe
librc-math
libmodal-cv
voxl-mpa-tools
voxl-mavlink
Installing libmodal-json (0.4.2) on root.
Downloading http://voxl-packages.modalai.com/dists/apq8096/staging/binary-arm64//libmodal-json_0.4.2.ipk.
Configuring libmodal-json.
Installing libmodal-pipe (2.4.0) on root.
Downloading http://voxl-packages.modalai.com/dists/apq8096/staging/binary-arm64//libmodal-pipe_2.4.0.ipk.
Configuring libmodal-pipe.
Installing librc-math (1.1.8) on root.
Downloading http://voxl-packages.modalai.com/dists/apq8096/staging/binary-arm64//librc-math_1.1.8.ipk.
Configuring librc-math.
Installing libmodal-cv (0.1.0) on root.
Downloading http://voxl-packages.modalai.com/dists/apq8096/staging/binary-arm64//libmodal-cv_0.1.0.ipk.
Configuring libmodal-cv.
Installing voxl-mpa-tools (0.7.2) on root.
Downloading http://voxl-packages.modalai.com/dists/apq8096/staging/binary-arm64//voxl-mpa-tools_0.7.2.ipk.
Configuring voxl-mpa-tools.
Installing voxl-mavlink (0.1.0) on root.
Downloading http://voxl-packages.modalai.com/dists/apq8096/staging/binary-arm64//voxl-mavlink_0.1.0.ipk.
Configuring voxl-mavlink.

Done installing dependencies

voxl-cross:~$ ./build.sh apq8096 
-- The C compiler identification is GNU 4.9.3
-- The CXX compiler identification is GNU 4.9.3
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /usr/bin/aarch64-linux-gnu-gcc-4.9 - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/aarch64-linux-gnu-g++-4.9 - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Building for platform APQ8096
-- Configuring done
-- Generating done
-- Build files have been written to: /home/root/build64
[  3%] Building C object utils/CMakeFiles/voxl-px4-shell.dir/voxl-px4-shell.c.o
[ 11%] Building C object src/CMakeFiles/voxl-vision-px4.dir/geometry.c.o
[ 11%] Building C object src/CMakeFiles/voxl-vision-px4.dir/config_file.c.o
[ 15%] Building C object src/CMakeFiles/voxl-vision-px4.dir/control_input.c.o
[ 23%] Building C object utils/CMakeFiles/voxl-calibrate-px4-horizon.dir/voxl-calibrate-px4-horizon.c.o
[ 26%] Building C object src/CMakeFiles/voxl-vision-px4.dir/fixed_pose_input.c.o
[ 23%] Building C object src/CMakeFiles/voxl-vision-px4.dir/horizon_cal.c.o
[ 30%] Building C object src/CMakeFiles/voxl-vision-px4.dir/main.c.o
In file included from /usr/aarch64-linux-gnu-2.23/include/features.h:367:0,
                 from /usr/aarch64-linux-gnu-2.23/include/stdio.h:27,
                 from /home/root/src/config_file.c:34:
/usr/aarch64-linux-gnu-2.23/include/bits/stdlib.h:64:8: warning: no previous declaration for 'ptsname_r' [-Wmissing-declarations]
 __NTH (ptsname_r (int __fd, char *__buf, size_t __buflen))
        ^
/usr/aarch64-linux-gnu-2.23/include/sys/cdefs.h:57:59: note: in definition of macro '__NTH'
 #  define __NTH(fct) __attribute__ ((__nothrow__ __LEAF)) fct
                                                           ^
In file included from /home/root/utils/voxl-px4-shell.c:39:0:
/usr/aarch64-linux-gnu-2.23/include/string.h:649:1: warning: no previous declaration for '__mempcpy_inline' [-Wmissing-declarations]
 __mempcpy_inline (void *__restrict __dest,
 ^
In file included from /usr/aarch64-linux-gnu-2.23/include/features.h:367:0,
                 from /usr/aarch64-linux-gnu-2.23/include/stdio.h:27,
                 from /home/root/utils/voxl-calibrate-px4-horizon.c:34:
/usr/aarch64-linux-gnu-2.23/include/bits/stdlib.h:64:8: warning: no previous declaration for 'ptsname_r' [-Wmissing-declarations]
 __NTH (ptsname_r (int __fd, char *__buf, size_t __buflen))
        ^
/usr/aarch64-linux-gnu-2.23/include/sys/cdefs.h:57:59: note: in definition of macro '__NTH'
 #  define __NTH(fct) __attribute__ ((__nothrow__ __LEAF)) fct
                                                           ^
In file included from /usr/aarch64-linux-gnu-2.23/include/features.h:367:0,
                 from /usr/aarch64-linux-gnu-2.23/include/stdio.h:27,
                 from /home/root/src/main.c:34:
/usr/aarch64-linux-gnu-2.23/include/bits/stdlib.h:64:8: warning: no previous declaration for 'ptsname_r' [-Wmissing-declarations]
 __NTH (ptsname_r (int __fd, char *__buf, size_t __buflen))
        ^
/usr/aarch64-linux-gnu-2.23/include/sys/cdefs.h:57:59: note: in definition of macro '__NTH'
 #  define __NTH(fct) __attribute__ ((__nothrow__ __LEAF)) fct
                                                           ^
[ 34%] Linking C executable voxl-calibrate-px4-horizon
[ 38%] Linking C executable voxl-px4-shell
In file included from /usr/aarch64-linux-gnu-2.23/include/features.h:367:0,
                 from /usr/aarch64-linux-gnu-2.23/include/stdio.h:27,
                 from /home/root/src/geometry.c:34:
/usr/aarch64-linux-gnu-2.23/include/bits/stdlib.h:64:8: warning: no previous declaration for 'ptsname_r' [-Wmissing-declarations]
 __NTH (ptsname_r (int __fd, char *__buf, size_t __buflen))
        ^
/usr/aarch64-linux-gnu-2.23/include/sys/cdefs.h:57:59: note: in definition of macro '__NTH'
 #  define __NTH(fct) __attribute__ ((__nothrow__ __LEAF)) fct
                                                           ^
[ 38%] Built target voxl-calibrate-px4-horizon
[ 42%] Building C object src/CMakeFiles/voxl-vision-px4.dir/misc.c.o
[ 42%] Built target voxl-px4-shell
[ 46%] Building C object src/CMakeFiles/voxl-vision-px4.dir/obs_pc_filter.c.o
[ 50%] Building C object src/CMakeFiles/voxl-vision-px4.dir/offboard_figure_eight.c.o
In file included from /usr/aarch64-linux-gnu-2.23/include/features.h:367:0,
                 from /usr/aarch64-linux-gnu-2.23/include/stdio.h:27,
                 from /home/root/src/obs_pc_filter.c:34:
/usr/aarch64-linux-gnu-2.23/include/bits/stdlib.h:64:8: warning: no previous declaration for 'ptsname_r' [-Wmissing-declarations]
 __NTH (ptsname_r (int __fd, char *__buf, size_t __buflen))
        ^
/usr/aarch64-linux-gnu-2.23/include/sys/cdefs.h:57:59: note: in definition of macro '__NTH'
 #  define __NTH(fct) __attribute__ ((__nothrow__ __LEAF)) fct
                                                           ^
[ 53%] Building C object src/CMakeFiles/voxl-vision-px4.dir/offboard_follow_tag.c.o
[ 57%] Building C object src/CMakeFiles/voxl-vision-px4.dir/offboard_mode.c.o
[ 61%] Building C object src/CMakeFiles/voxl-vision-px4.dir/offboard_trajectory.c.o
[ 65%] Building C object src/CMakeFiles/voxl-vision-px4.dir/pose_filter.c.o
[ 69%] Building C object src/CMakeFiles/voxl-vision-px4.dir/px4_mavlink.c.o
[ 73%] Building C object src/CMakeFiles/voxl-vision-px4.dir/px4_monitor.c.o
[ 76%] Building C object src/CMakeFiles/voxl-vision-px4.dir/px4_shell.c.o
[ 80%] Building C object src/CMakeFiles/voxl-vision-px4.dir/tag_manager.c.o
[ 84%] Building C object src/CMakeFiles/voxl-vision-px4.dir/transform_ringbuf.c.o
In file included from /usr/aarch64-linux-gnu-2.23/include/features.h:367:0,
                 from /usr/aarch64-linux-gnu-2.23/include/stdio.h:27,
                 from /home/root/src/transform_ringbuf.c:19:
/usr/aarch64-linux-gnu-2.23/include/bits/stdlib.h:64:8: warning: no previous declaration for 'ptsname_r' [-Wmissing-declarations]
 __NTH (ptsname_r (int __fd, char *__buf, size_t __buflen))
        ^
/usr/aarch64-linux-gnu-2.23/include/sys/cdefs.h:57:59: note: in definition of macro '__NTH'
 #  define __NTH(fct) __attribute__ ((__nothrow__ __LEAF)) fct
                                                           ^
[ 88%] Building C object src/CMakeFiles/voxl-vision-px4.dir/udp_mavlink.c.o
[ 92%] Building C object src/CMakeFiles/voxl-vision-px4.dir/vio_manager.c.o
In file included from /usr/aarch64-linux-gnu-2.23/include/features.h:367:0,
                 from /usr/aarch64-linux-gnu-2.23/include/stdio.h:27,
                 from /home/root/src/udp_mavlink.c:34:
/usr/aarch64-linux-gnu-2.23/include/bits/stdlib.h:64:8: warning: no previous declaration for 'ptsname_r' [-Wmissing-declarations]
 __NTH (ptsname_r (int __fd, char *__buf, size_t __buflen))
        ^
/usr/aarch64-linux-gnu-2.23/include/sys/cdefs.h:57:59: note: in definition of macro '__NTH'
 #  define __NTH(fct) __attribute__ ((__nothrow__ __LEAF)) fct
                                                           ^
[ 96%] Building C object src/CMakeFiles/voxl-vision-px4.dir/voa_manager.c.o
[100%] Linking C executable voxl-vision-px4
[100%] Built target voxl-vision-px4
voxl-cross:~$ ./make_package.sh ipk 
Package Name:  voxl-vision-px4
version Number:  1.2.0
Consolidate compiler generated dependencies of target voxl-vision-px4
[ 84%] Built target voxl-vision-px4
Consolidate compiler generated dependencies of target voxl-px4-shell
[ 92%] Built target voxl-px4-shell
Consolidate compiler generated dependencies of target voxl-calibrate-px4-horizon
[100%] Built target voxl-calibrate-px4-horizon
Install the project...
-- Install configuration: ""
-- Installing: ../pkg/data/usr/bin/voxl-vision-px4
-- Installing: ../pkg/data/usr/include/voxl_vision_px4.h
-- Installing: ../pkg/data/usr/bin/voxl-px4-shell
-- Installing: ../pkg/data/usr/bin/voxl-calibrate-px4-horizon
/home/root
starting building IPK package
ar: creating voxl-vision-px4_1.2.0.ipk
DONE
voxl-cross:~$ logout
voxl-vision-px4-master $./deploy_to_voxl.sh adb
searching for ADB device
checking VOXL for dpkg/opkg
opkg detected
voxl-vision-px4_1.2.0.ipk: 1 file pushed. 8.6 MB/s (105382 bytes in 0.012s)
Reinstalling voxl-vision-px4 (1.2.0) on root.
Configuring voxl-vision-px4.
Collected errors:
 * satisfy_dependencies_for: Cannot satisfy the following dependencies for voxl-vision-px4:
 * 	libmodal-pipe (>= 2.4.0) * 	libmodal-cv (>= 0.1.0) * 
DONE

After this, the package I am trying to deploy isn't on VOXL and the voxl-vision-px4 is enabled but not running.

Any pointers to what I may be missing?

Hi,

I've been trying to deploy VVPX4 and see some dependencies. I am using the VOXL Platform 3.8.0-0.7 and VOXL-Cross-2.1 docker image.

voxl-vision-px4-master $./deploy_to_voxl.sh 
searching for ADB device
checking VOXL for dpkg/opkg
opkg detected
voxl-vision-px4_1.2.0.ipk: 1 file pushed. 3.4 MB/s (105362 bytes in 0.029s)
Reinstalling voxl-vision-px4 (1.2.0) on root.
Configuring voxl-vision-px4.
Collected errors:
 * satisfy_dependencies_for: Cannot satisfy the following dependencies for voxl-vision-px4:
 * 	libmodal-pipe (>= 2.4.0) * 	libmodal-cv (>= 0.1.0) * 
DONE

Maybe I have to build the following in a specific directory but I am not sure which one:

$ mkdir cross-workspace
$ cd cross-workspace
$ voxl-docker -i voxl-cross:V1.9
voxl-cross:~$ git clone https://gitlab.com/voxl-public/voxl-sdk/core-libs/libmodal-json.git
voxl-cross:~$ cd libmodal-json/
voxl-cross:~$ ./build.sh qrb5165

Can I install or source these two dependencies separately?

Hi,

I've been trying to deploy VVPX4 and still see some dependencies. I am using the VOXL Platform 3.8.0-0.7 and VOXL-Cross-2.1 docker image.

voxl-vision-px4-master $./deploy_to_voxl.sh 
searching for ADB device
checking VOXL for dpkg/opkg
opkg detected
voxl-vision-px4_1.2.0.ipk: 1 file pushed. 3.4 MB/s (105362 bytes in 0.029s)
Reinstalling voxl-vision-px4 (1.2.0) on root.
Configuring voxl-vision-px4.
Collected errors:
 * satisfy_dependencies_for: Cannot satisfy the following dependencies for voxl-vision-px4:
 * 	libmodal-pipe (>= 2.4.0) * 	libmodal-cv (>= 0.1.0) * 
DONE

Maybe I have to build the following in a specific directory but I am not sure which one:

$ mkdir cross-workspace
$ cd cross-workspace
$ voxl-docker -i voxl-cross:V1.9
voxl-cross:~$ git clone https://gitlab.com/voxl-public/voxl-sdk/core-libs/libmodal-json.git
voxl-cross:~$ cd libmodal-json/
voxl-cross:~$ ./build.sh qrb5165

Can I install or source these two dependencies separately?

@Alex-Gardner Great, thanks!

@Alex-Gardner And factory resetting it

voxl-configure-mpa --factory-reset

shows the following:

Configuring VOXL Vision PX4

wiping old config file
voxl-vision-px4: error while loading shared libraries: libmodalcv.so.1: cannot open shared object file: No such file or directory
enabling  voxl-vision-px4 systemd service
starting  voxl-vision-px4 systemd service
Done configuring voxl-vision-px4

@Alex-Gardner Apparently not the last for me!

So now the package is configured but not installed:

And VOXL does not connect to QGC now. I tried reinstalling the unedited package and get the same message and no connection to QGC.