Re: Fixed frame pose MPA to ROS

Similar to the various above threads, I am trying to figure out if there already exists some way of getting the detected April tag's offset relative the the MAV's local frame (for reference I'm using the frame that /mavros/local_position/pose provides). I'm unsure of how I can achieve this aside from manually piping and shifting through the data outputted by the voxl-inspect-tags command and converting into a ROS Pose. Do let me know if there already exists a method for accomplishing this or if there would be an easier way to retrieve this offset into a ROS pose.

For reference I am using a Starling with VOXL2 and system image: 1.7.6

My goal is to visualize the position of the drone relative to the detected April tag for accurate position targeting.

@Alex-Kushleyev I will look into replacing the motors, is there anything I can do to prevent motor failures like this? my platform has been having a lot of QVIO failures

One of our recently acquired motors has been failing, it spins up then briefly stops and starts back up, the voxl-esc spin reveals the following:
INFO: ESC Information:
INFO: ---------------------
ID : 0 // problematic motor
Board : version 37: ModalAi 4-in-1 ESC (M0134-1)
UID : 0x203330385246571800230046
Firmware : version 39, hash eb6fb500
Bootloader : version 183, hash b4fa2cf8
ID : 1
Board : version 37: ModalAi 4-in-1 ESC (M0134-1)
UID : 0x203330385246571900310040
Firmware : version 39, hash eb6fb500
Bootloader : version 183, hash b4fa2cf8
ID : 2
Board : version 37: ModalAi 4-in-1 ESC (M0134-1)
UID : 0x203330385246571900310042
Firmware : version 39, hash eb6fb500
Bootloader : version 183, hash b4fa2cf8
ID : 3
Board : version 37: ModalAi 4-in-1 ESC (M0134-1)
UID : 0x203330385246571900280025
Firmware : version 39, hash eb6fb500
Bootloader : version 183, hash b4fa2cf8

Detected Python version : 3.6.9 (default, Mar 10 2023, 16:46:00)
[GCC 8.4.0]
dpkg-query: no packages found matching...
Found voxl-esc tools bin version: 1.6
VOXL Platform: M0054
Detected RB5 Flight, VOXL2 M0054 or M0104!
INFO: Scanning for ESC firmware: /dev/slpi-uart-2, baud: 2000000
Sending library name request: libslpi_qrb5165_io.so
Sending initialization request
INFO: ESC(s) detected on port: /dev/slpi-uart-2, baud rate: 2000000
ID : 0
Board : version 37: ModalAi 4-in-1 ESC (M0134-1)
UID : 0x203330385246571800230046
Firmware : version 39, hash eb6fb500
Bootloader : version 183, hash b4fa2cf8
ID : 1
Board : version 37: ModalAi 4-in-1 ESC (M0134-1)
UID : 0x203330385246571900310040
Firmware : version 39, hash eb6fb500
Bootloader : version 183, hash b4fa2cf8
ID : 2
Board : version 37: ModalAi 4-in-1 ESC (M0134-1)
UID : 0x203330385246571900310042
Firmware : version 39, hash eb6fb500
Bootloader : version 183, hash b4fa2cf8
ID : 3
Board : version 37: ModalAi 4-in-1 ESC (M0134-1)
UID : 0x203330385246571900280025
Firmware : version 39, hash eb6fb500
Bootloader : version 183, hash b4fa2cf8

WARNING: skipping user prompt to start the test due to override
[0.013] (0) RPM: 0, PWR: 0, VOLTAGE: 6.760V, TEMPERATURE: 36.92C, CURRENT: -0.032A
[0.032] (0) RPM: 29, PWR: 0, VOLTAGE: 6.768V, TEMPERATURE: 36.90C, CURRENT: -0.032A
[0.052] (0) RPM: 59, PWR: 1, VOLTAGE: 6.768V, TEMPERATURE: 36.91C, CURRENT: -0.008A
[0.073] (0) RPM: 90, PWR: 2, VOLTAGE: 6.769V, TEMPERATURE: 36.89C, CURRENT: -0.016A
[0.092] (0) RPM: 119, PWR: 2, VOLTAGE: 6.765V, TEMPERATURE: 36.91C, CURRENT: 0.000A
[0.114] (0) RPM: 150, PWR: 3, VOLTAGE: 6.770V, TEMPERATURE: 36.91C, CURRENT: 0.000A
[0.132] (0) RPM: 179, PWR: 4, VOLTAGE: 6.768V, TEMPERATURE: 36.94C, CURRENT: -0.016A
[0.153] (0) RPM: 205, PWR: 4, VOLTAGE: 6.768V, TEMPERATURE: 36.93C, CURRENT: 0.016A
[0.175] (0) RPM: 228, PWR: 5, VOLTAGE: 6.761V, TEMPERATURE: 36.92C, CURRENT: 0.024A
[0.192] (0) RPM: 269, PWR: 6, VOLTAGE: 6.766V, TEMPERATURE: 36.88C, CURRENT: 0.024A
[0.219] (0) RPM: 309, PWR: 6, VOLTAGE: 6.768V, TEMPERATURE: 36.87C, CURRENT: 0.000A
[0.234] (0) RPM: 314, PWR: 7, VOLTAGE: 6.769V, TEMPERATURE: 36.86C, CURRENT: 0.016A
[0.252] (0) RPM: 358, PWR: 8, VOLTAGE: 6.766V, TEMPERATURE: 36.90C, CURRENT: 0.040A
[0.280] (0) RPM: 392, PWR: 8, VOLTAGE: 6.768V, TEMPERATURE: 36.91C, CURRENT: 0.024A
[0.292] (0) RPM: 418, PWR: 9, VOLTAGE: 6.765V, TEMPERATURE: 36.89C, CURRENT: 0.072A
[0.312] (0) RPM: 449, PWR: 10, VOLTAGE: 6.765V, TEMPERATURE: 36.91C, CURRENT: 0.072A
[0.336] (0) RPM: 464, PWR: 10, VOLTAGE: 6.764V, TEMPERATURE: 36.90C, CURRENT: 0.080A
[0.352] (0) RPM: 509, PWR: 11, VOLTAGE: 6.766V, TEMPERATURE: 36.88C, CURRENT: 0.104A
[0.379] (0) RPM: 528, PWR: 11, VOLTAGE: 6.755V, TEMPERATURE: 36.89C, CURRENT: 0.072A
[0.394] (0) RPM: 554, PWR: 12, VOLTAGE: 6.761V, TEMPERATURE: 36.90C, CURRENT: 0.072A
[0.413] (0) RPM: 599, PWR: 13, VOLTAGE: 6.760V, TEMPERATURE: 36.91C, CURRENT: 0.088A
[0.432] (0) RPM: 629, PWR: 14, VOLTAGE: 6.760V, TEMPERATURE: 36.90C, CURRENT: 0.168A
[0.452] (0) RPM: 658, PWR: 14, VOLTAGE: 6.761V, TEMPERATURE: 36.88C, CURRENT: 0.152A
[0.483] (0) RPM: 679, PWR: 14, VOLTAGE: 6.762V, TEMPERATURE: 36.89C, CURRENT: 0.128A
[0.493] (0) RPM: 719, PWR: 14, VOLTAGE: 6.762V, TEMPERATURE: 36.92C, CURRENT: 0.136A
[0.515] (0) RPM: 751, PWR: 14, VOLTAGE: 6.761V, TEMPERATURE: 36.93C, CURRENT: 0.152A
[0.532] (0) RPM: 779, PWR: 14, VOLTAGE: 6.755V, TEMPERATURE: 36.92C, CURRENT: 0.144A
[0.552] (0) RPM: 808, PWR: 14, VOLTAGE: 6.757V, TEMPERATURE: 36.94C, CURRENT: 0.120A
[0.577] (0) RPM: 845, PWR: 15, VOLTAGE: 6.754V, TEMPERATURE: 36.92C, CURRENT: 0.168A
[0.592] (0) RPM: 868, PWR: 15, VOLTAGE: 6.755V, TEMPERATURE: 36.94C, CURRENT: 0.080A
[0.612] (0) RPM: 898, PWR: 15, VOLTAGE: 6.757V, TEMPERATURE: 36.93C, CURRENT: 0.160A
[0.633] (0) RPM: 930, PWR: 15, VOLTAGE: 6.760V, TEMPERATURE: 36.93C, CURRENT: 0.176A
[0.652] (0) RPM: 959, PWR: 15, VOLTAGE: 6.761V, TEMPERATURE: 36.95C, CURRENT: 0.208A
[0.672] (0) RPM: 989, PWR: 15, VOLTAGE: 6.758V, TEMPERATURE: 36.94C, CURRENT: 0.192A
[0.694] (0) RPM: 1004, PWR: 15, VOLTAGE: 6.755V, TEMPERATURE: 36.94C, CURRENT: 0.176A
[0.712] (0) RPM: 1049, PWR: 16, VOLTAGE: 6.759V, TEMPERATURE: 36.95C, CURRENT: 0.208A
[0.733] (0) RPM: 1080, PWR: 16, VOLTAGE: 6.759V, TEMPERATURE: 36.94C, CURRENT: 0.160A
[0.752] (0) RPM: 1108, PWR: 16, VOLTAGE: 6.759V, TEMPERATURE: 36.95C, CURRENT: 0.176A
[0.788] (0) RPM: 1126, PWR: 16, VOLTAGE: 6.748V, TEMPERATURE: 36.95C, CURRENT: 0.160A
[0.792] (0) RPM: 1168, PWR: 16, VOLTAGE: 6.755V, TEMPERATURE: 36.95C, CURRENT: 0.144A
[0.813] (0) RPM: 1184, PWR: 16, VOLTAGE: 6.752V, TEMPERATURE: 36.96C, CURRENT: 0.120A
[0.832] (0) RPM: 1228, PWR: 17, VOLTAGE: 6.755V, TEMPERATURE: 36.97C, CURRENT: 0.216A
[0.852] (0) RPM: 1259, PWR: 17, VOLTAGE: 6.755V, TEMPERATURE: 37.00C, CURRENT: 0.112A
[0.873] (0) RPM: 1277, PWR: 17, VOLTAGE: 6.756V, TEMPERATURE: 36.98C, CURRENT: 0.120A
[0.893] (0) RPM: 1318, PWR: 17, VOLTAGE: 6.756V, TEMPERATURE: 36.97C, CURRENT: 0.072A
[0.913] (0) RPM: 1350, PWR: 17, VOLTAGE: 6.759V, TEMPERATURE: 36.96C, CURRENT: 0.136A
[0.932] (0) RPM: 1379, PWR: 17, VOLTAGE: 6.756V, TEMPERATURE: 37.01C, CURRENT: 0.136A
[0.952] (0) RPM: 1409, PWR: 18, VOLTAGE: 6.759V, TEMPERATURE: 36.98C, CURRENT: 0.192A
[0.977] (0) RPM: 1429, PWR: 18, VOLTAGE: 6.752V, TEMPERATURE: 36.99C, CURRENT: 0.136A
[0.994] (0) RPM: 1469, PWR: 18, VOLTAGE: 6.753V, TEMPERATURE: 36.97C, CURRENT: 0.144A
[1.013] (0) RPM: 1483, PWR: 18, VOLTAGE: 6.753V, TEMPERATURE: 36.98C, CURRENT: 0.056A
[1.033] (0) RPM: 1529, PWR: 18, VOLTAGE: 6.755V, TEMPERATURE: 36.98C, CURRENT: 0.120A
[1.052] (0) RPM: 1559, PWR: 18, VOLTAGE: 6.755V, TEMPERATURE: 36.98C, CURRENT: 0.128A
[1.079] (0) RPM: 1589, PWR: 19, VOLTAGE: 6.755V, TEMPERATURE: 36.98C, CURRENT: 0.224A
[1.094] (0) RPM: 1606, PWR: 19, VOLTAGE: 6.754V, TEMPERATURE: 36.99C, CURRENT: 0.120A
[1.112] (0) RPM: 1649, PWR: 19, VOLTAGE: 6.755V, TEMPERATURE: 37.00C, CURRENT: 0.160A
[1.133] (0) RPM: 1679, PWR: 19, VOLTAGE: 6.755V, TEMPERATURE: 36.99C, CURRENT: 0.160A
[1.152] (0) RPM: 1708, PWR: 19, VOLTAGE: 6.756V, TEMPERATURE: 36.99C, CURRENT: 0.136A
[1.176] (0) RPM: 1725, PWR: 19, VOLTAGE: 6.745V, TEMPERATURE: 36.99C, CURRENT: 0.224A
[1.194] (0) RPM: 1771, PWR: 19, VOLTAGE: 6.753V, TEMPERATURE: 36.99C, CURRENT: 0.192A
[1.212] (0) RPM: 1798, PWR: 20, VOLTAGE: 6.755V, TEMPERATURE: 37.01C, CURRENT: 0.168A
[1.235] (0) RPM: 1813, PWR: 20, VOLTAGE: 6.758V, TEMPERATURE: 36.98C, CURRENT: 0.136A
[1.252] (0) RPM: 1859, PWR: 20, VOLTAGE: 6.756V, TEMPERATURE: 36.99C, CURRENT: 0.152A
[1.276] (0) RPM: 1874, PWR: 20, VOLTAGE: 6.756V, TEMPERATURE: 37.01C, CURRENT: 0.096A
[1.292] (0) RPM: 1919, PWR: 20, VOLTAGE: 6.755V, TEMPERATURE: 37.05C, CURRENT: 0.224A
[1.314] (0) RPM: 1950, PWR: 20, VOLTAGE: 6.755V, TEMPERATURE: 37.04C, CURRENT: 0.136A
[1.332] (0) RPM: 1979, PWR: 20, VOLTAGE: 6.755V, TEMPERATURE: 37.04C, CURRENT: 0.152A
[1.353] (0) RPM: 2008, PWR: 21, VOLTAGE: 6.755V, TEMPERATURE: 37.03C, CURRENT: 0.176A
[1.375] (0) RPM: 2025, PWR: 21, VOLTAGE: 6.748V, TEMPERATURE: 37.03C, CURRENT: 0.152A
[1.394] (0) RPM: 2069, PWR: 21, VOLTAGE: 6.755V, TEMPERATURE: 37.02C, CURRENT: 0.176A
[1.413] (0) RPM: 2086, PWR: 21, VOLTAGE: 6.756V, TEMPERATURE: 37.00C, CURRENT: 0.136A
[1.432] (0) RPM: 2129, PWR: 21, VOLTAGE: 6.756V, TEMPERATURE: 37.02C, CURRENT: 0.160A
[1.453] (0) RPM: 2159, PWR: 21, VOLTAGE: 6.757V, TEMPERATURE: 37.01C, CURRENT: 0.168A
[1.480] (0) RPM: 2189, PWR: 22, VOLTAGE: 6.760V, TEMPERATURE: 37.03C, CURRENT: 0.176A
[1.493] (0) RPM: 2220, PWR: 22, VOLTAGE: 6.755V, TEMPERATURE: 37.01C, CURRENT: 0.160A
[1.513] (0) RPM: 2239, PWR: 22, VOLTAGE: 6.755V, TEMPERATURE: 37.03C, CURRENT: 0.128A
[1.532] (0) RPM: 2279, PWR: 22, VOLTAGE: 6.755V, TEMPERATURE: 37.02C, CURRENT: 0.136A
[1.552] (0) RPM: 2308, PWR: 22, VOLTAGE: 6.757V, TEMPERATURE: 37.04C, CURRENT: 0.216A
[1.578] (0) RPM: 2327, PWR: 22, VOLTAGE: 6.750V, TEMPERATURE: 37.05C, CURRENT: 0.120A
[1.593] (0) RPM: 2370, PWR: 22, VOLTAGE: 6.759V, TEMPERATURE: 37.04C, CURRENT: 0.200A
[1.612] (0) RPM: 2399, PWR: 23, VOLTAGE: 6.756V, TEMPERATURE: 37.04C, CURRENT: 0.168A
[1.633] (0) RPM: 2413, PWR: 23, VOLTAGE: 6.756V, TEMPERATURE: 37.05C, CURRENT: 0.144A
[1.652] (0) RPM: 2459, PWR: 23, VOLTAGE: 6.761V, TEMPERATURE: 37.06C, CURRENT: 0.104A
[1.676] (0) RPM: 2474, PWR: 23, VOLTAGE: 6.761V, TEMPERATURE: 37.07C, CURRENT: 0.152A
[1.692] (0) RPM: 2519, PWR: 23, VOLTAGE: 6.762V, TEMPERATURE: 37.04C, CURRENT: 0.176A
[1.712] (0) RPM: 2549, PWR: 23, VOLTAGE: 6.761V, TEMPERATURE: 37.03C, CURRENT: 0.144A
[1.734] (0) RPM: 2571, PWR: 23, VOLTAGE: 6.758V, TEMPERATURE: 37.03C, CURRENT: 0.128A
[1.752] (0) RPM: 2609, PWR: 24, VOLTAGE: 6.755V, TEMPERATURE: 37.04C, CURRENT: 0.136A
[1.775] (0) RPM: 2643, PWR: 24, VOLTAGE: 6.753V, TEMPERATURE: 37.02C, CURRENT: 0.128A
[1.792] (0) RPM: 2669, PWR: 24, VOLTAGE: 6.755V, TEMPERATURE: 37.01C, CURRENT: 0.008A
[1.812] (0) RPM: 2698, PWR: 24, VOLTAGE: 6.755V, TEMPERATURE: 36.98C, CURRENT: 0.120A
[1.832] (0) RPM: 2728, PWR: 24, VOLTAGE: 6.756V, TEMPERATURE: 36.97C, CURRENT: 0.104A
[1.853] (0) RPM: 2760, PWR: 24, VOLTAGE: 6.756V, TEMPERATURE: 36.98C, CURRENT: 0.112A
[1.882] (0) RPM: 2775, PWR: 24, VOLTAGE: 6.755V, TEMPERATURE: 36.99C, CURRENT: 0.128A
[1.896] (0) RPM: 2806, PWR: 25, VOLTAGE: 6.754V, TEMPERATURE: 36.98C, CURRENT: 0.128A
[1.912] (0) RPM: 2849, PWR: 25, VOLTAGE: 6.757V, TEMPERATURE: 37.00C, CURRENT: 0.136A
[1.934] (0) RPM: 2867, PWR: 25, VOLTAGE: 6.754V, TEMPERATURE: 37.02C, CURRENT: 0.184A
[1.952] (0) RPM: 2908, PWR: 25, VOLTAGE: 6.756V, TEMPERATURE: 36.98C, CURRENT: 0.176A
[1.976] (0) RPM: 2924, PWR: 25, VOLTAGE: 6.747V, TEMPERATURE: 36.98C, CURRENT: 0.104A
[1.994] (0) RPM: 2971, PWR: 25, VOLTAGE: 6.755V, TEMPERATURE: 36.98C, CURRENT: 0.128A
[2.012] (0) RPM: 2998, PWR: 26, VOLTAGE: 6.751V, TEMPERATURE: 36.97C, CURRENT: 0.208A
[2.033] (0) RPM: 3525, PWR: 10, VOLTAGE: 6.757V, TEMPERATURE: 36.97C, CURRENT: 0.088A
[2.052] (0) RPM: 3525, PWR: 10, VOLTAGE: 6.756V, TEMPERATURE: 36.98C, CURRENT: 0.184A
[2.074] (0) RPM: 3525, PWR: 10, VOLTAGE: 6.758V, TEMPERATURE: 36.97C, CURRENT: 0.128A
[2.093] (0) RPM: 0, PWR: 0, VOLTAGE: 6.766V, TEMPERATURE: 36.99C, CURRENT: -0.064A
[2.113] (0) RPM: 15, PWR: 0, VOLTAGE: 6.768V, TEMPERATURE: 37.00C, CURRENT: -0.040A
[2.132] (0) RPM: 58, PWR: 1, VOLTAGE: 6.768V, TEMPERATURE: 37.02C, CURRENT: -0.016A
[2.153] (0) RPM: 89, PWR: 1, VOLTAGE: 6.781V, TEMPERATURE: 37.04C, CURRENT: -0.032A
[2.177] (0) RPM: 106, PWR: 2, VOLTAGE: 6.761V, TEMPERATURE: 37.02C, CURRENT: -0.008A
[2.192] (0) RPM: 148, PWR: 3, VOLTAGE: 6.762V, TEMPERATURE: 37.02C, CURRENT: -0.040A
[2.212] (0) RPM: 167, PWR: 3, VOLTAGE: 6.757V, TEMPERATURE: 37.01C, CURRENT: 0.016A
[2.232] (0) RPM: 208, PWR: 4, VOLTAGE: 6.762V, TEMPERATURE: 37.05C, CURRENT: 0.072A
[2.253] (0) RPM: 239, PWR: 5, VOLTAGE: 6.763V, TEMPERATURE: 37.01C, CURRENT: 0.008A
[2.275] (0) RPM: 254, PWR: 5, VOLTAGE: 6.766V, TEMPERATURE: 37.03C, CURRENT: 0.048A
[2.292] (0) RPM: 298, PWR: 6, VOLTAGE: 6.766V, TEMPERATURE: 37.04C, CURRENT: 0.016A
[2.313] (0) RPM: 328, PWR: 7, VOLTAGE: 6.763V, TEMPERATURE: 37.05C, CURRENT: 0.056A
[2.332] (0) RPM: 358, PWR: 8, VOLTAGE: 6.762V, TEMPERATURE: 37.08C, CURRENT: 0.032A
[2.354] (0) RPM: 373, PWR: 8, VOLTAGE: 6.761V, TEMPERATURE: 37.11C, CURRENT: 0.024A
[2.375] (0) RPM: 423, PWR: 9, VOLTAGE: 6.761V, TEMPERATURE: 37.09C, CURRENT: 0.032A
[2.393] (0) RPM: 448, PWR: 10, VOLTAGE: 6.761V, TEMPERATURE: 37.08C, CURRENT: 0.032A
[2.412] (0) RPM: 478, PWR: 10, VOLTAGE: 6.761V, TEMPERATURE: 37.11C, CURRENT: 0.080A
[2.432] (0) RPM: 508, PWR: 11, VOLTAGE: 6.762V, TEMPERATURE: 37.11C, CURRENT: 0.048A
[2.454] (0) RPM: 523, PWR: 11, VOLTAGE: 6.762V, TEMPERATURE: 37.10C, CURRENT: 0.112A
[2.475] (0) RPM: 572, PWR: 12, VOLTAGE: 6.762V, TEMPERATURE: 37.14C, CURRENT: 0.184A
[2.494] (0) RPM: 600, PWR: 13, VOLTAGE: 6.760V, TEMPERATURE: 37.13C, CURRENT: 0.096A
[2.513] (0) RPM: 621, PWR: 14, VOLTAGE: 6.758V, TEMPERATURE: 37.12C, CURRENT: 0.056A
[2.532] (0) RPM: 658, PWR: 14, VOLTAGE: 6.760V, TEMPERATURE: 37.11C, CURRENT: 0.112A
[2.553] (0) RPM: 673, PWR: 14, VOLTAGE: 6.761V, TEMPERATURE: 37.10C, CURRENT: 0.168A
[2.573] (0) RPM: 720, PWR: 14, VOLTAGE: 6.755V, TEMPERATURE: 37.13C, CURRENT: 0.136A
[2.594] (0) RPM: 751, PWR: 14, VOLTAGE: 6.754V, TEMPERATURE: 37.13C, CURRENT: 0.200A
[2.612] (0) RPM: 778, PWR: 14, VOLTAGE: 6.755V, TEMPERATURE: 37.14C, CURRENT: 0.128A
[2.633] (0) RPM: 808, PWR: 14, VOLTAGE: 6.755V, TEMPERATURE: 37.15C, CURRENT: 0.104A
[2.653] (0) RPM: 838, PWR: 15, VOLTAGE: 6.756V, TEMPERATURE: 37.14C, CURRENT: 0.192A
[2.673] (0) RPM: 855, PWR: 15, VOLTAGE: 6.756V, TEMPERATURE: 37.16C, CURRENT: 0.128A
[2.694] (0) RPM: 901, PWR: 15, VOLTAGE: 6.758V, TEMPERATURE: 37.14C, CURRENT: 0.168A
[2.712] (0) RPM: 928, PWR: 15, VOLTAGE: 6.756V, TEMPERATURE: 37.17C, CURRENT: 0.160A
[2.734] (0) RPM: 944, PWR: 15, VOLTAGE: 6.755V, TEMPERATURE: 37.19C, CURRENT: 0.200A
[2.753] (0) RPM: 988, PWR: 15, VOLTAGE: 6.755V, TEMPERATURE: 37.17C, CURRENT: 0.096A
[2.792] (0) RPM: 1044, PWR: 16, VOLTAGE: 6.754V, TEMPERATURE: 37.13C, CURRENT: 0.136A
[2.795] (0) RPM: 1053, PWR: 16, VOLTAGE: 6.753V, TEMPERATURE: 37.13C, CURRENT: 0.152A
[2.811] (0) RPM: 1077, PWR: 16, VOLTAGE: 6.754V, TEMPERATURE: 37.15C, CURRENT: 0.096A
[2.833] (0) RPM: 1109, PWR: 16, VOLTAGE: 6.756V, TEMPERATURE: 37.13C, CURRENT: 0.152A
[2.853] (0) RPM: 1125, PWR: 16, VOLTAGE: 6.750V, TEMPERATURE: 37.12C, CURRENT: 0.136A
[2.872] (0) RPM: 1168, PWR: 16, VOLTAGE: 6.756V, TEMPERATURE: 37.13C, CURRENT: 0.040A
[2.892] (0) RPM: 1198, PWR: 16, VOLTAGE: 6.755V, TEMPERATURE: 37.12C, CURRENT: 0.200A
[2.912] (0) RPM: 1228, PWR: 17, VOLTAGE: 6.755V, TEMPERATURE: 37.11C, CURRENT: 0.120A
[2.932] (0) RPM: 1258, PWR: 17, VOLTAGE: 6.758V, TEMPERATURE: 37.09C, CURRENT: 0.136A
[2.952] (0) RPM: 1310, PWR: 17, VOLTAGE: 6.751V, TEMPERATURE: 37.09C, CURRENT: 0.336A
[2.987] (0) RPM: 1310, PWR: 17, VOLTAGE: 6.751V, TEMPERATURE: 37.09C, CURRENT: 0.336A
[2.995] (0) RPM: 1343, PWR: 17, VOLTAGE: 6.755V, TEMPERATURE: 37.12C, CURRENT: 0.152A
[3.012] (0) RPM: 1377, PWR: 17, VOLTAGE: 6.751V, TEMPERATURE: 37.12C, CURRENT: 0.160A
[3.032] (0) RPM: 1408, PWR: 18, VOLTAGE: 6.755V, TEMPERATURE: 37.15C, CURRENT: 0.072A
[3.054] (0) RPM: 1425, PWR: 18, VOLTAGE: 6.756V, TEMPERATURE: 37.16C, CURRENT: 0.152A
[3.072] (0) RPM: 1468, PWR: 18, VOLTAGE: 6.755V, TEMPERATURE: 37.17C, CURRENT: 0.120A
[3.095] (0) RPM: 1502, PWR: 18, VOLTAGE: 6.755V, TEMPERATURE: 37.17C, CURRENT: 0.160A
[3.112] (0) RPM: 1528, PWR: 18, VOLTAGE: 6.755V, TEMPERATURE: 37.17C, CURRENT: 0.160A
[3.132] (0) RPM: 1558, PWR: 18, VOLTAGE: 6.755V, TEMPERATURE: 37.18C, CURRENT: 0.168A
[3.153] (0) RPM: 1588, PWR: 19, VOLTAGE: 6.755V, TEMPERATURE: 37.20C, CURRENT: 0.120A
[3.173] (0) RPM: 1619, PWR: 19, VOLTAGE: 6.750V, TEMPERATURE: 37.16C, CURRENT: 0.136A
[3.193] (0) RPM: 1648, PWR: 19, VOLTAGE: 6.750V, TEMPERATURE: 37.14C, CURRENT: 0.144A
[3.212] (0) RPM: 1677, PWR: 19, VOLTAGE: 6.755V, TEMPERATURE: 37.17C, CURRENT: 0.192A
[3.232] (0) RPM: 1708, PWR: 19, VOLTAGE: 6.755V, TEMPERATURE: 37.14C, CURRENT: 0.160A
[3.253] (0) RPM: 1740, PWR: 19, VOLTAGE: 6.755V, TEMPERATURE: 37.13C, CURRENT: 0.176A
[3.272] (0) RPM: 1768, PWR: 19, VOLTAGE: 6.755V, TEMPERATURE: 37.16C, CURRENT: 0.136A
[3.292] (0) RPM: 1784, PWR: 19, VOLTAGE: 6.755V, TEMPERATURE: 37.17C, CURRENT: 0.168A
[3.312] (0) RPM: 1828, PWR: 20, VOLTAGE: 6.757V, TEMPERATURE: 37.19C, CURRENT: 0.224A
[3.334] (0) RPM: 1861, PWR: 20, VOLTAGE: 6.755V, TEMPERATURE: 37.19C, CURRENT: 0.128A
[3.353] (0) RPM: 1874, PWR: 20, VOLTAGE: 6.757V, TEMPERATURE: 37.21C, CURRENT: 0.144A
[3.388] (0) RPM: 1888, PWR: 20, VOLTAGE: 6.756V, TEMPERATURE: 37.20C, CURRENT: 0.144A
[3.394] (0) RPM: 1950, PWR: 20, VOLTAGE: 6.752V, TEMPERATURE: 37.21C, CURRENT: 0.176A
[3.412] (0) RPM: 1978, PWR: 20, VOLTAGE: 6.752V, TEMPERATURE: 37.21C, CURRENT: 0.160A
[3.435] (0) RPM: 1992, PWR: 21, VOLTAGE: 6.755V, TEMPERATURE: 37.22C, CURRENT: 0.160A
[3.452] (0) RPM: 2038, PWR: 21, VOLTAGE: 6.756V, TEMPERATURE: 37.18C, CURRENT: 0.120A
[3.478] (0) RPM: 2077, PWR: 21, VOLTAGE: 6.756V, TEMPERATURE: 37.18C, CURRENT: 0.120A
[3.493] (0) RPM: 2083, PWR: 21, VOLTAGE: 6.756V, TEMPERATURE: 37.20C, CURRENT: 0.120A
[3.512] (0) RPM: 2128, PWR: 21, VOLTAGE: 6.756V, TEMPERATURE: 37.21C, CURRENT: 0.160A
[3.532] (0) RPM: 2158, PWR: 21, VOLTAGE: 6.756V, TEMPERATURE: 37.22C, CURRENT: 0.192A
[3.552] (0) RPM: 2188, PWR: 22, VOLTAGE: 6.757V, TEMPERATURE: 37.22C, CURRENT: 0.160A
[3.574] (0) RPM: 2205, PWR: 22, VOLTAGE: 6.745V, TEMPERATURE: 37.22C, CURRENT: 0.152A
[3.593] (0) RPM: 2249, PWR: 22, VOLTAGE: 6.754V, TEMPERATURE: 37.22C, CURRENT: 0.128A
[3.612] (0) RPM: 2277, PWR: 22, VOLTAGE: 6.754V, TEMPERATURE: 37.22C, CURRENT: 0.216A
[3.639] (0) RPM: 2292, PWR: 22, VOLTAGE: 6.755V, TEMPERATURE: 37.22C, CURRENT: 0.160A
[3.652] (0) RPM: 2338, PWR: 22, VOLTAGE: 6.756V, TEMPERATURE: 37.20C, CURRENT: 0.160A
[3.674] (0) RPM: 2354, PWR: 22, VOLTAGE: 6.756V, TEMPERATURE: 37.22C, CURRENT: 0.136A
[3.693] (0) RPM: 2399, PWR: 23, VOLTAGE: 6.759V, TEMPERATURE: 37.21C, CURRENT: 0.208A
[3.714] (0) RPM: 2429, PWR: 23, VOLTAGE: 6.756V, TEMPERATURE: 37.23C, CURRENT: 0.152A
[3.732] (0) RPM: 2458, PWR: 23, VOLTAGE: 6.755V, TEMPERATURE: 37.25C, CURRENT: 0.112A
[3.752] (0) RPM: 2488, PWR: 23, VOLTAGE: 6.757V, TEMPERATURE: 37.27C, CURRENT: 0.120A
[3.791] (0) RPM: 2505, PWR: 23, VOLTAGE: 6.748V, TEMPERATURE: 37.27C, CURRENT: 0.136A
[3.795] (0) RPM: 2552, PWR: 23, VOLTAGE: 6.755V, TEMPERATURE: 37.23C, CURRENT: 0.128A
[3.812] (0) RPM: 2577, PWR: 24, VOLTAGE: 6.754V, TEMPERATURE: 37.19C, CURRENT: 0.136A
[3.836] (0) RPM: 2595, PWR: 24, VOLTAGE: 6.758V, TEMPERATURE: 37.16C, CURRENT: 0.088A
[3.852] (0) RPM: 2638, PWR: 24, VOLTAGE: 6.755V, TEMPERATURE: 37.17C, CURRENT: 0.112A
[3.873] (0) RPM: 2669, PWR: 24, VOLTAGE: 6.758V, TEMPERATURE: 37.16C, CURRENT: 0.168A
[3.895] (0) RPM: 2683, PWR: 24, VOLTAGE: 6.756V, TEMPERATURE: 37.15C, CURRENT: 0.120A
[3.912] (0) RPM: 2728, PWR: 24, VOLTAGE: 6.755V, TEMPERATURE: 37.15C, CURRENT: 0.176A
[3.933] (0) RPM: 2758, PWR: 24, VOLTAGE: 6.755V, TEMPERATURE: 37.16C, CURRENT: 0.032A
[3.956] (0) RPM: 2775, PWR: 24, VOLTAGE: 6.755V, TEMPERATURE: 37.16C, CURRENT: 0.120A
[3.974] (0) RPM: 2821, PWR: 25, VOLTAGE: 6.752V, TEMPERATURE: 37.18C, CURRENT: 0.128A
[3.993] (0) RPM: 2849, PWR: 25, VOLTAGE: 6.755V, TEMPERATURE: 37.18C, CURRENT: 0.152A
[4.012] (0) RPM: 2877, PWR: 25, VOLTAGE: 6.755V, TEMPERATURE: 37.19C, CURRENT: 0.096A
[4.037] (0) RPM: 2915, PWR: 25, VOLTAGE: 6.755V, TEMPERATURE: 37.17C, CURRENT: 0.080A
[4.052] (0) RPM: 2938, PWR: 25, VOLTAGE: 6.754V, TEMPERATURE: 37.17C, CURRENT: 0.136A
[4.072] (0) RPM: 2968, PWR: 25, VOLTAGE: 6.756V, TEMPERATURE: 37.19C, CURRENT: 0.176A
[4.092] (0) RPM: 2997, PWR: 26, VOLTAGE: 6.756V, TEMPERATURE: 37.19C, CURRENT: 0.144A
[4.112] (0) RPM: 3525, PWR: 10, VOLTAGE: 6.754V, TEMPERATURE: 37.18C, CURRENT: 0.112A
[4.135] (0) RPM: 3525, PWR: 10, VOLTAGE: 6.755V, TEMPERATURE: 37.19C, CURRENT: 0.144A
[4.152] (0) RPM: 3525, PWR: 10, VOLTAGE: 6.756V, TEMPERATURE: 37.17C, CURRENT: 0.048A
[4.173] (0) RPM: 0, PWR: 0, VOLTAGE: 6.761V, TEMPERATURE: 37.16C, CURRENT: -0.032A
[4.193] (0) RPM: 29, PWR: 0, VOLTAGE: 6.761V, TEMPERATURE: 37.18C, CURRENT: -0.024A
[4.212] (0) RPM: 57, PWR: 1, VOLTAGE: 6.762V, TEMPERATURE: 37.18C, CURRENT: -0.080A
[4.233] (0) RPM: 88, PWR: 1, VOLTAGE: 6.764V, TEMPERATURE: 37.17C, CURRENT: -0.032A

It always spins up to speed then resets its power/goes to 0, I thought it was a soldering/wiring issue, but after re-soldering it to the board I am still facing the same issue. This is a recent issue likely after a VIO failure crash since it was working well beforehand. Do let me know if there is a software solution or re-calibration I should be doing for this new motor, or if a replacement can be provided, thanks!

Over the past few months, I've been stuck trying to get the on-board VIO system to be stable enough to follow a path to completion, however, the sudden switch from manual/positional to offboard mode leads to voxl-vision failure as it tries to move suddenly to a waypoint or to its origin. I've also encountered voxl-vision failures using the positional hold mode. It only works sometimes when at 90-100% battery charge, These failures have lead to several crashes/replacement parts being required

Please let me know if there is anything specific that might be causing this and what I am missing, I am using a properly lit environment with a colored carpet/floor, it is an indoor GPS-Denied environment and I have tried the documentation methods for solving this issue, it is also using factory-defaults.

I have a VOXL Starling that can be unpredictable and for user studies I want to implement a software failsafe/trigger a shutdown to catch it incase I don't with the controller. Is the FCU Vision failure error/QVIO Failure error that shows in under voxl-inspect-qvio and within the default px4.launch configuration detectable in MAVROS/software? (is there a topic for it/way to check for it yet?). I would also appreciate it if anyone has any guidance for preventing these errors and getting stable indoor flights. It is a well-lit area and on a colorful carpet.

I was wondering if there is any code or command on the PX4/MAVROS/modalai side of the VOXL Starling that I can use to control what the drone does when it's navigation fails. I want to use the MAV in future HRI user studies but its unstability and randomly flying into things/away on navigation fails makes it impossible to do so just yet. I would prefer if I could edit the drone's actions to simply shutoff in-place or force itself it to land in-place instead of its navigation steering it astray.

@Eric-Katzfey Is there an existing service/configuration for collision avoidance on these platforms or do we have to implement our own using the TOF sensor data?

@Moderator said in Retrieving Apriltag offset from MAV local frame offset:

We love incorporating merge requests if you do end up with something useful!

Reply

I've made a quick fix here for anyone looking for it, ill try to make a merge request/real fix for it soon

https://github.com/Joe1Ontiveros/ApriltagPublisher_Starling

@Eric-Katzfey I'm having the same issue on the VOXL Starling, the /etc/modalai/voxl-dfs-server.conf file is set to use the rear and front stereo intrinsics.yml and extrinstics.yml which don't exist due to what you just mentioned. Is there a specific setup/files we should set the voxl-dfs-server.conf to use ?

Re: Fixed frame pose MPA to ROS

Similar to the various above threads, I am trying to figure out if there already exists some way of getting the detected April tag's offset relative the the MAV's local frame (for reference I'm using the frame that /mavros/local_position/pose provides). I'm unsure of how I can achieve this aside from manually piping and shifting through the data outputted by the voxl-inspect-tags command and converting into a ROS Pose. Do let me know if there already exists a method for accomplishing this or if there would be an easier way to retrieve this offset into a ROS pose.

For reference I am using a Starling with VOXL2 and system image: 1.7.6

My goal is to visualize the position of the drone relative to the detected April tag for accurate position targeting.

@Eric-Katzfey Is there a reliable link to a working version we can purchase or exchange it with? Thanks!