Hey @Eric-Katzfey @James-Strawson ,

Thanks a lot for helping me with the integration of my VOXL2 with Cube Orange. It is working well. I am also using it with the ToF, HighRes, and tracking camera from ModalAI.
Position hold using VIO and Semi-Autonomous (VOA) are also working well.

Now, I am facing an issue with the offboard mode. The moment I switch to offboard, the drone aggressively moves and crashes. (in both "figure_eight and "trajectory"). [In the offboard mode = "off", I am not able to switch to offboard. ]

There are no error messages in QGC or otherwise. Except offboard everything else works.
Could please help with this issue?
I'm working on this as a priority, so any suggestion will be quickly tested. I hope to hear from you.

Thank you

We have been looking out for VOXL Time of Flight (TOF) Depth Sensor from ModalAI products page to integrate with our VOXL2 board. But the sensor is currently unavailable for the critical time period.

The sensor provided is ToF Depth sensor from PMD. Could the same sensor module provided by PMD(ie. PMD Flexx2 3D Camera Sensor module) be directly integrated with VOXL2?

Re: TFLite multiple model execution

@nickk14 Hey, I wanted to know whether you are running the same tflite server with changes , or you created a custom tflite server and running it parallely. I would like to know whether the changes you have made are open source or not, if yes, could help me out here.

Re: Drone losing position / crashing in Offboard mode
@Eric-Katzfey @Alex-Kushleyev @Zachary-Lowell-0
Even though earlier I was able to solve the error with help from you, now i am facing the same errors. the odometry is not published on the terminal and the drone is coming down.
VOXL 2 with FC V2 is used, SDK 1.4.0 and PX4 firmware is 1.14.0dev

@Evan-Hertafeld Hey I wanted to know whether you were able to connect to mpa server and access the data inside mavsdk

Hey @Alex-Kushleyev @Vinny @Eric-Katzfey @tom

I want to use TOF data with MAVSDK to follow a path with collision prevention. how to achieve it, i am able to see that mpa data is available inside the docker, I would like to have a guidance how to access the data and incorporate it inside mavsdk

@zauberflote1 @James-Strawson

I am attaching an issue i am facing, the drone is stable in a mat, but as soon as i bring it back i loses the position and drifts out and goes crazy when i try to give pilot input

INFO] world : 1.000000 1.000000  (2)
ERROR in insert_data, detected timestamp out of order ov, 1440558439657 vs 1440591773303
ERROR in insert_data, detected timestamp out of order ov, 1456191779391 vs 1456191779391
ERROR in insert_data, detected timestamp out of order ov, 1460758438920 vs 1460791771472
ERROR in insert_data, detected timestamp out of order ov, 1461691774910 vs 1461691774910
ERROR in insert_data, detected timestamp out of order ov, 1461858441212 vs 1461858441212
ERROR in insert_data, detected timestamp out of order ov, 1462091774232 vs 1462125109024
ERROR in insert_data, detected timestamp out of order ov, 1462258438295 vs 1462291773555
ERROR in insert_data, detected timestamp out of order ov, 1462491774024 vs 1462525106316
ERROR in insert_data, detected timestamp out of order ov, 1462658436524 vs 1462725109597
ERROR in insert_data, detected timestamp out of order ov, 1462825106628 vs 1462891775690
ERROR in insert_data, detected timestamp out of order ov, 1462991771420 vs 1463058439440
ERROR in insert_data, detected timestamp out of order ov, 1464125106211 vs 1464125106211
ERROR in insert_data, detected timestamp out of order ov, 1464291773919 vs 1464291773919
ERROR in insert_data, detected timestamp out of order ov, 1464458441002 vs 1464458441002
ERROR in insert_data, detected timestamp out of order ov, 1464691773398 vs 1464725105273
ERROR in insert_data, detected timestamp out of order ov, 1465425110585 vs 1465558437773
ERROR in insert_data, detected timestamp out of order ov, 1465658438450 vs 1465825104596
ERROR in insert_data, detected timestamp out of order ov, 1465925106418 vs 1466091986731
ERROR in insert_data, detected timestamp out of order ov, 1466091986731 vs 1466225109387
ERROR in insert_data, detected timestamp out of order ov, 1466258441991 vs 1466391773450
ERROR in insert_data, detected timestamp out of order ov, 1467658442251 vs 1467691776314
ERROR in insert_data, detected timestamp out of order ov, 1470658438812 vs 1470658438812
ERROR in insert_data, detected timestamp out of order ov, 1470791773187 vs 1470858439698
ERROR in insert_data, detected timestamp out of order ov, 1470958439854 vs 1471025104073
ERROR in insert_data, detected timestamp out of order ov, 1471125105010 vs 1471191771000
ERROR in insert_data, detected timestamp out of order ov, 1471325106781 vs 1471358439125
ERROR in insert_data, detected timestamp out of order ov, 1471491772927 vs 1472058437406
ERROR in insert_data, detected timestamp out of order ov, 1471658438604 vs 1472225105843
ERROR in insert_data, detected timestamp out of order ov, 1471791775375 vs 1472225105843
ERROR in insert_data, detected timestamp out of order ov, 1471958440114 vs 1472425105999
ERROR in insert_data, detected timestamp out of order ov, 1472125105427 vs 1472592004124
ERROR in insert_data, detected timestamp out of order ov, 1472291774385 vs 1472758439489
ERROR in insert_data, detected timestamp out of order ov, 1472491771728 vs 1472925109124
waiting for enough clone states (1 of 5)....
waiting for enough clone states (2 of 5)....
waiting for enough clone states (3 of 5)....
waiting for enough clone states (4 of 5)....
ERROR in insert_data, detected timestamp out of order ov, 1474458439176 vs 1474458439176
ERROR in insert_data, detected timestamp out of order ov, 1474858440061 vs 1475625107196
ERROR in insert_data, detected timestamp out of order ov, 1474891775321 vs 1475625107196
ERROR in insert_data, detected timestamp out of order ov, 1474925109957 vs 1475625107196
ERROR in insert_data, detected timestamp out of order ov, 1474958443290 vs 1475625107196
ERROR in insert_data, detected timestamp out of order ov, 1474991770946 vs 1475625107196
ERROR in insert_data, detected timestamp out of order ov, 1475025106050 vs 1475625107196
ERROR in insert_data, detected timestamp out of order ov, 1475058439748 vs 1475625107196
[WARN] Motion detected, going to full processing
ERROR in insert_data, detected timestamp out of order ov, 1475091775165 vs 1475625107196
ERROR in insert_data, detected timestamp out of order ov, 1475125106571 vs 1475625107196
ERROR in insert_data, detected timestamp out of order ov, 1475158441363 vs 1475625107196
ERROR in insert_data, detected timestamp out of order ov, 1475191774279 vs 1475625107196
ERROR in insert_data, detected timestamp out of order ov, 1475225106988 vs 1475625107196
ERROR in insert_data, detected timestamp out of order ov, 1475258438550 vs 1475625107196
ERROR in insert_data, detected timestamp out of order ov, 1475291774540 vs 1475625107196
ERROR in insert_data, detected timestamp out of order ov, 1475325106311 vs 1475625107196
ERROR in insert_data, detected timestamp out of order ov, 1475458439384 vs 1477225106518
ERROR in insert_data, detected timestamp out of order ov, 1475491771415 vs 1477225106518
ERROR in insert_data, detected timestamp out of order ov, 1475691776883 vs 1477558441674
ERROR in insert_data, detected timestamp out of order ov, 1475725110738 vs 1477558441674
ERROR in insert_data, detected timestamp out of order ov, 1475758443863 vs 1477558441674
ERROR in insert_data, detected timestamp out of order ov, 1475791778446 vs 1477558441674
ERROR in insert_data, detected timestamp out of order ov, 1475825110321 vs 1477558441674
ERROR in insert_data, detected timestamp out of order ov, 1475858439383 vs 1477558441674
ERROR in insert_data, detected timestamp out of order ov, 1475891772613 vs 1477558441674
ERROR in insert_data, detected timestamp out of order ov, 1475925110581 vs 1477558441674
ERROR in insert_data, detected timestamp out of order ov, 1475958442873 vs 1477558441674
ERROR in insert_data, detected timestamp out of order ov, 1475991771154 vs 1477558441674
ERROR in insert_data, detected timestamp out of order ov, 1476291770633 vs 1478191770789
ERROR in insert_data, detected timestamp out of order ov, 1476325110946 vs 1478191770789
ERROR in insert_data, detected timestamp out of order ov, 1476358440894 vs 1478191770789
ERROR in insert_data, detected timestamp out of order ov, 1476392017456 vs 1478191770789
ERROR in insert_data, detected timestamp out of order ov, 1476425106258 vs 1478191770789
ERROR in insert_data, detected timestamp out of order ov, 1476458439956 vs 1478191770789
ERROR in insert_data, detected timestamp out of order ov, 1476491775894 vs 1478191770789
ERROR in insert_data, detected timestamp out of order ov, 1476525105946 vs 1478191770789
ERROR in insert_data, detected timestamp out of order ov, 1478325107247 vs 1480091772507
ERROR in insert_data, detected timestamp out of order ov, 1478358437924 vs 1480091772507
ERROR in insert_data, detected timestamp out of order ov, 1478391771674 vs 1480091772507
ERROR in insert_data, detected timestamp out of order ov, 1478425108653 vs 1480091772507
ERROR in insert_data, detected timestamp out of order ov, 1478458442768 vs 1480091772507

ERROR: invalid metadata, magic number=387521565, expected 1448040524
most likely client fell behind and pipe overflowed
ERROR in insert_data, detected timestamp out of order ov, 1514291774160 vs 1514291774160
ERROR: features were 0 for a long time! cur: 1, min_req: 15 (are you bench testing?) 
[VIO_BAD_STATE] No Stable feature.
WARNING auto-resetting, Bad VIO, State:  true   Q: -1   Vel: 1.738034 Uncert: 0.000915 State: 0(1)
ERROR DIAGONAL WENT NEGATIVE
ERROR DIAGONAL WENT NEGATIVE
ERROR DIAGONAL WENT NEGATIVE
ERROR DIAGONAL WENT NEGATIVE
ERROR DIAGONAL WENT NEGATIVE
ERROR DIAGONAL WENT NEGATIVE
voxl-open-vins-server: /builds/voxl-public/voxl-sdk/third-party/voxl-open-vins/open_vins/ov_msckf/src/state/StateHelper.cpp:114: Assertion `!found_neg' failed.
Aborted

voxl2:~$ voxl-inspect-vins 
waiting for server at /run/mpa/ov_extended

    T_imu_wrt_vio (m)   |Roll Pitch Yaw (deg)| state| error_code
    0.00    0.00    0.00|  -0.8   -2.7    0.0| OKAY | DROPPED_IMU 
voxl-open-vins-server disconnected

    T_imu_wrt_vio (m)   |Roll Pitch Yaw (deg)| state| error_code
    0.00    0.00    0.00|  -0.9   -2.7    0.0| OKAY | ERROR validating EXT VIO t
read 8424 bytes, but it should be a multiple of 5268
ERROR validating EXT VIO data received through pipe: read partial packet
read 8424 bytes, but it should be a multiple of 5268
ERROR validating EXT VIO data received through pipe: read partial packet
read 4224 bytes, but it should be a multiple of 5268
    0.00    0.00    0.00|  -0.9   -2.7    0.0| OKAY | ERROR validating EXT VIO t
read 8424 bytes, but it should be a multiple of 5268
ERROR validating EXT VIO data received through pipe: read partial packet
read 2112 bytes, but it should be a multiple of 5268
    0.00    0.00    0.00|  -0.9   -2.7    0.0| OKAY | ERROR validating EXT VIO t
read 8424 bytes, but it should be a multiple of 5268
ERROR validating EXT VIO data received through pipe: read partial packet
read 2112 bytes, but it should be a multiple of 5268
   -0.00   -0.00    0.00|  -0.9   -2.8    0.0| OKAY | ERROR validating EXT VIO t
read 8424 bytes, but it should be a multiple of 5268
ERROR validating EXT VIO data received through pipe: read partial packet
read 8424 bytes, but it should be a multiple of 5268
ERROR validating EXT VIO data received through pipe: read partial packet
read 8424 bytes, but it should be a multiple of 5268
ERROR validating EXT VIO data received through pipe: read partial packet
read 6336 bytes, but it should be a multiple of 5268
   -0.00   -0.00    0.00|  -0.9   -2.8    0.0| OKAY | ERROR validating EXT VIO t
read 8424 bytes, but it should be a multiple of 5268
ERROR validating EXT VIO data received through pipe: read partial packet
read 2112 bytes, but it should be a multiple of 5268
   -0.00   -0.00    0.00|  -0.9   -2.8    0.0| OKAY | ERROR validating EXT VIO t
read 8424 bytes, but it should be a multiple of 5268
ERROR validating EXT VIO data received through pipe: read partial packet
read 2112 bytes, but it should be a multiple of 5268
   -0.00   -0.00    0.00|  -0.9   -2.8    0.0| OKAY | ERROR validating EXT VIO t
read 8424 bytes, but it should be a multiple of 5268
ERROR validating EXT VIO data received through pipe: read partial packet
read 7380 bytes, but it should be a multiple of 5268
   -0.00   -0.00    0.00|  -0.9   -2.8    0.0| OKAY | ERROR validating EXT VIO t
read 8424 bytes, but it should be a multiple of 5268
ERROR validating EXT VIO data received through pipe: read partial packet
read 7380 bytes, but it should be a multiple of 5268
    4.38   -1.43    1.78|  -1.6   19.3   -4.9| OKAY | 
voxl-open-vins-server disconnected
ERROR in pipe_client_open opening request pipe: No such device or address
Most likely the server stopped without cleaning up
Client is cleaning up pipes for the server

@Alex-Kushleyev @Eric-Katzfey

The temperature rise is when i run the voxl-camera-server. I tried with turning off and on individual server and as soon as i turn on the camera server temperature rises up by 30 to 40 degree celsius, that is upto 88-90 degree celsius. this affects the performance

@Alex-Kushleyev Thank you for reverting, I didnt change anything with respect to the fc or ESC, the firmware is the same.
could you help me with understanding why it was working earlier , it is not now.
The firmware of the FC is voxl-fpv-dev version, and when i tried to build again it is giving error, and not building.
I still dont know whether the issue is with respect to FC firmware or ESC

@zauberflote1 @Alex-Kushleyev @Cliff-Wong Thank you for reverting, I have setted up the openvins server now, the major cause of drift was improper extrinsic value, now the drone is much stable, but still drifting with in a small area, the vio data is fed into fc v2 . can that be an issue for the drifting

Hey @Alex-Kushleyev @Eric-Katzfey

I am facing an issue of over heating and servers or wifi not working properly. Even with out any flight , a drone that is kept open, causes the voxl 2 board to reach 60 degree Celsius very fast, with in a matter 2 - 3 minutes.
What could be the reason for the sudden temperature rise.

I am running with 2 tracking, 1 hires, 1 TOF connected to Voxl2 . along with camera, mapper, openvins, and vision servers.
The px4 is running on the external flight controller.
Also while booting itself the flight controller is showing random height as reference in QGC, after rebooting it settles, what could be the reason for this error too.
please clarify my doubts

hey @Alex-Kushleyev
I am facing the same issue again, the ESC is not initialising when connected through fc v2 , i have followed all the suggestions you mentioned earlier. the FC as well as VOXL 2 is powered through ESC.

nsh> voxl_esc start
INFO  [voxl_esc] VOXL_ESC: Starting VOXL ESC driver
INFO  [voxl_esc] Params: VOXL_ESC_CONFIG: 1
INFO  [voxl_esc] Params: VOXL_ESC_MODE: 0
INFO  [voxl_esc] Params: VOXL_ESC_BAUD: 2000000
INFO  [voxl_esc] Params: VOXL_ESC_FUNC1: 101
INFO  [voxl_esc] Params: VOXL_ESC_FUNC2: 104
INFO  [voxl_esc] Params: VOXL_ESC_FUNC3: 102
INFO  [voxl_esc] Params: VOXL_ESC_FUNC4: 103
INFO  [voxl_esc] Params: VOXL_ESC_SDIR1: 0
INFO  [voxl_esc] Params: VOXL_ESC_SDIR2: 0
INFO  [voxl_esc] Params: VOXL_ESC_SDIR3: 0
INFO  [voxl_esc] Params: VOXL_ESC_SDIR4: 0
INFO  [voxl_esc] Params: VOXL_ESC_RPM_MIN: 5500
INFO  [voxl_esc] Params: VOXL_ESC_RPM_MAX: 15000
INFO  [voxl_esc] Params: VOXL_ESC_T_PERC: 90
INFO  [voxl_esc] Params: VOXL_ESC_T_DEAD: 20
INFO  [voxl_esc] Params: VOXL_ESC_T_EXPO: 35
INFO  [voxl_esc] Params: VOXL_ESC_T_MINF: 0.150000
INFO  [voxl_esc] Params: VOXL_ESC_T_COSP: 0.990000
INFO  [voxl_esc] Params: VOXL_ESC_VLOG: 0
INFO  [voxl_esc] Params: VOXL_ESC_PUB_BST: 1
INFO  [voxl_esc] Params: VOXL_ESC_T_WARN: 0
INFO  [voxl_esc] Params: VOXL_ESC_T_OVER: 0
INFO  [voxl_esc] Params: GPIO_CTL_CH: 0
nsh> voxl_esc status
INFO  [voxl_esc] not running
nsh> voxl_esc start
INFO  [voxl_esc] VOXL_ESC: Starting VOXL ESC driver
INFO  [voxl_esc] Params: VOXL_ESC_CONFIG: 1
INFO  [voxl_esc] Params: VOXL_ESC_MODE: 0
INFO  [voxl_esc] Params: VOXL_ESC_BAUD: 2000000
INFO  [voxl_esc] Params: VOXL_ESC_FUNC1: 101
INFO  [voxl_esc] Params: VOXL_ESC_FUNC2: 104
INFO  [voxl_esc] Params: VOXL_ESC_FUNC3: 102
INFO  [voxl_esc] Params: VOXL_ESC_FUNC4: 103
INFO  [voxl_esc] Params: VOXL_ESC_SDIR1: 0
INFO  [voxl_esc] Params: VOXL_ESC_SDIR2: 0
INFO  [voxl_esc] Params: VOXL_ESC_SDIR3: 0
INFO  [voxl_esc] Params: VOXL_ESC_SDIR4: 0
INFO  [voxl_esc] Params: VOXL_ESC_RPM_MIN: 5500
INFO  [voxl_esc] Params: VOXL_ESC_RPM_MAX: 15000
INFO  [voxl_esc] Params: VOXL_ESC_T_PERC: 90
INFO  [voxl_esc] Params: VOXL_ESC_T_DEAD: 20
INFO  [voxl_esc] Params: VOXL_ESC_T_EXPO: 35
INFO  [voxl_esc] Params: VOXL_ESC_T_MINF: 0.150000
INFO  [voxl_esc] Params: VOXL_ESC_T_COSP: 0.990000
INFO  [voxl_esc] Params: VOXL_ESC_VLOG: 0
INFO  [voxl_esc] Params: VOXL_ESC_PUB_BST: 1
INFO  [voxl_esc] Params: VOXL_ESC_T_WARN: 0
INFO  [voxl_esc] Params: VOXL_ESC_T_OVER: 0
INFO  [voxl_esc] Params: GPIO_CTL_CH: 0
nsh>