ModalAI Forum

Oh wow, I totally overlooked the fact that the mavlink server seems to have been disabled during upgrade. Anyway thanks for the more up to date repo link, that might be very useful

Hi Alex,

I also noticed the scaling of the QVIO coordinates is wrong. I had to recalibrate the sensors because I had to reflash the drone. Maybe you can pull the factory calibration files for my device because I suspect my calib is bad. Serial is M2100000CCS

Thanks,
Joel

Hi,

playing with the voxl-mapper I was getting weird results where it seemed like the drone position was drifting through space, creating long "tunnels" in the mapping or just broken geometry. However the QVIO overlay looks fine and inspect-qvio mostly shows OK status. Fisheye lens was calibrated with 35mm chequerboard.

What causes this drifting?
Since I had more success in the sunny morning (indoors), how sensitive is QVIO to light conditions?

Hi,

I was able to fix the ringbuffer error by running the voxl-configure-vision-px4 after the update.
However there still is no connection to QGroundControl. Running tcpdump udp port 14550 -vv hints that the voxl-vision-px4 server is not sending packets (consistent with the lack of output with --debug_udp_send) .

/**
 * VOXL Vision PX4 Configuration File
 *
 */
{
        "qgc_ip":       "192.168.8.89",
        "en_localhost_mavlink_udp":     true,
        "en_secondary_qgc":     false,
        "secondary_qgc_ip":     "192.168.2.1",
        "qgc_udp_port_number":  14550,
        "localhost_udp_port_number":    14551,
        "udp_mtu":      512,
        "en_vio":       true,
        "en_voa":       true,
        "en_send_vio_to_qgc":   false,
        "en_send_voa_to_qgc":   false,
        "en_set_clock_from_gps":        true,
        "en_force_onboard_mav1_mode":   true,
        "en_reset_px4_on_error":        true,
        "qvio_auto_reset_quality":      0.00050000002374872565,
        "horizon_cal_tolerance":        0.300000011920929,
        "voa_upper_bound_m":    -0.15000000596046448,
        "voa_lower_bound_m":    0.15000000596046448,
        "offboard_mode":        "off",
        "follow_tag_id":        0,
        "figure_eight_move_home":       true,
        "en_tag_fixed_frame":   false,
        "fixed_frame_filter_len":       5,
        "en_transform_mavlink_pos_setpoints_from_fixed_frame":  false
}

loading our own config file
=================================================================
Parameters as loaded from config file:
qgc_ip:                     192.168.8.89
en_localhost_mavlink_udp    1
en_secondary_qgc:           0
secondary_qgc_ip:           192.168.2.1
qgc_udp_port_number:        14550
localhost_udp_port_number:  14551
udp_mtu:                    512
en_vio:                     1
en_voa:                     1
en_send_vio_to_qgc:         0
en_send_voa_to_qgc:         0
en_set_clock_from_gps:      1
en_force_onboard_mav1_mode: 1
en_reset_px4_on_error:      1
qvio_auto_reset_quality:    0.000500
horizon_cal_tolerance:      0.300000
voa_upper_bound_m:          -0.150000
voa_lower_bound_m:          0.150000
offboard_mode:              off
follow_tag_id:              0
figure_eight_move_home:     1
en_tag_fixed_frame:         0
fixed_frame_filter_len:     5
en_transform_mavlink_pos_setpoints_from_fixed_frame:0
=================================================================
loading extrinsics config file
starting geometry module
starting px4 monitor
starting px4 mavlink
starting udp mavlink
Adding manual QGC IP address to udp connection list: 192.168.8.89
Added new UDP connection to 192.168.8.89
starting px4 shell
starting fixed pose input
starting vio manager
starting tag manager
starting voa manager
starting control input pipe
Init complete, entering main loop
Connected to TOF
Connected to voxl-qvio-server
updating to use imu: imu1
done updating transforms to use imu: imu1

Enabling en_send_vio_to_qgc or en_send_voa_to_qgc will send udp packets which show up in QGroundControl MAVLink Inspector (but still no proper connection)

Worked before the upgrade from stable to dev but.
The voxl-vision-px4 service emits:

Jan 01 00:04:08 apq8096 voxl-vision-px4[1954]: ERROR in obs_pc_ringbuf_cleanup_old, ringbuf uninitialized
Jan 01 00:04:08 apq8096 voxl-vision-px4[1954]: ERROR in obs_pc_ringbuf_insert_pc, ringbuf uninitialized
Jan 01 00:04:08 apq8096 voxl-vision-px4[1954]: ERROR in obs_pc_ringbuf_cleanup_old, ringbuf uninitialized
Jan 01 00:04:08 apq8096 voxl-vision-px4[1954]: ERROR in obs_pc_ringbuf_cleanup_old, ringbuf uninitialized
Jan 01 00:04:08 apq8096 voxl-vision-px4[1954]: ERROR in obs_pc_ringbuf_insert_pc, ringbuf uninitialized
Jan 01 00:04:08 apq8096 voxl-vision-px4[1954]: ERROR in obs_pc_ringbuf_insert_pc, ringbuf uninitialized
Jan 01 00:04:08 apq8096 voxl-vision-px4[1954]: ERROR in obs_pc_ringbuf_cleanup_old, ringbuf uninitialized
Jan 01 00:04:08 apq8096 voxl-vision-px4[1954]: ERROR in obs_pc_ringbuf_cleanup_old, ringbuf uninitialized
Jan 01 00:04:08 apq8096 voxl-vision-px4[1954]: ERROR in obs_pc_ringbuf_insert_pc, ringbuf uninitialized
Jan 01 00:04:08 apq8096 voxl-vision-px4[1954]: ERROR in obs_pc_ringbuf_cleanup_old, ringbuf uninitialized

Additionally, I am unable to view the pointcloud in RViz
It connects and can show images but not spatial data:

No tf data.  Actual error: Fixed Frame [map] does not exist

Maybe there is a misconfiguration of ros on the seeker?

Thanks,

I had to upgrade other packages as well due to dependency constraints. I wasn't able to resolve all of them cleanly because it looks like opencv and voxl-opencv are both required by different packages.

Unfortunately now the flight control interface seems to be broken, reporting:

Jan 01 00:04:08 apq8096 voxl-vision-px4[1954]: ERROR in obs_pc_ringbuf_cleanup_old, ringbuf uninitialized
Jan 01 00:04:08 apq8096 voxl-vision-px4[1954]: ERROR in obs_pc_ringbuf_insert_pc, ringbuf uninitialized
Jan 01 00:04:08 apq8096 voxl-vision-px4[1954]: ERROR in obs_pc_ringbuf_cleanup_old, ringbuf uninitialized
Jan 01 00:04:08 apq8096 voxl-vision-px4[1954]: ERROR in obs_pc_ringbuf_cleanup_old, ringbuf uninitialized
Jan 01 00:04:08 apq8096 voxl-vision-px4[1954]: ERROR in obs_pc_ringbuf_insert_pc, ringbuf uninitialized
Jan 01 00:04:08 apq8096 voxl-vision-px4[1954]: ERROR in obs_pc_ringbuf_insert_pc, ringbuf uninitialized
Jan 01 00:04:08 apq8096 voxl-vision-px4[1954]: ERROR in obs_pc_ringbuf_cleanup_old, ringbuf uninitialized
Jan 01 00:04:08 apq8096 voxl-vision-px4[1954]: ERROR in obs_pc_ringbuf_cleanup_old, ringbuf uninitialized
Jan 01 00:04:08 apq8096 voxl-vision-px4[1954]: ERROR in obs_pc_ringbuf_insert_pc, ringbuf uninitialized
Jan 01 00:04:08 apq8096 voxl-vision-px4[1954]: ERROR in obs_pc_ringbuf_cleanup_old, ringbuf uninitialized

But at least pointclouds are showing now.

Thanks for the hint, qvio is now showing correct positions.
However, pointcloud is still not available in the portal, how to enable that again?

Hi,

Unfortunately we can't get QVIO to work, voxl-inspect-qvio gives 0 position values and jumps between OKAY and FAIL.
Additionally, after we reset the drone by flashing the factory image we no longer see the "Pointclouds" tab in the portal. How do we enable this again?
I would appreciate any tips on how to solve this.