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    2. Kessie
    3. Posts
    K
    • Profile
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    • Topics 8
    • Posts 24
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    Posts made by Kessie

    • RE: VOXL2/ROS2 Drone Runs Figure 8 Offboard Program Instead of My Program

      @claw You'll need to change the parameter COM_RC_OVERRIDE to also allow overriding offboard mode.

      Reference link : https://docs.px4.io/main/en/advanced_config/parameter_reference.html#COM_RC_OVERRIDE

      posted in Ask your questions right here!
      K
      Kessie
    • RE: Apriltag relocalization not relocalizing?

      @James-Strawson @Eric-Katzfey,
      Can you show a working example on a dual camera config, please?
      Both flat on the ground as against a wall.
      This would help us a lot!

      Thanks in advance,
      Maarten

      posted in AprilTag Relocalization
      K
      Kessie
    • RE: VOXL2/ROS2 Drone Runs Figure 8 Offboard Program Instead of My Program

      @GlennTee the problem lies in a mismatch between the topics which you see using "ros2 topic list" and the publishers from the offboard_control node.

      The ros2 node has publishers defined as follows:

      	OffboardControl() : Node("offboard_control")
	{

		offboard_control_mode_publisher_ = this->create_publisher<OffboardControlMode>("/fmu/in/offboard_control_mode", 10);
		trajectory_setpoint_publisher_ = this->create_publisher<TrajectorySetpoint>("/fmu/in/trajectory_setpoint", 10);
		vehicle_command_publisher_ = this->create_publisher<VehicleCommand>("/fmu/in/vehicle_command", 10);

      Do you know where you changed the prefix uav_4?
      I can't remember where to configure it.

      So, you can change the ROS2 code, rebuild and it should work. Or remove the uav_4 prefix

      posted in Ask your questions right here!
      K
      Kessie
    • RE: Apriltag relocalization not relocalizing?

      @James-Strawson we are still trying to understand this behaviour.
      After several tests, we noticed that with the default SDK 1.4.1 on Starling 2 Max with C29 camera config :

      • If holding an apriltag in front of the front-tracking camera ([[0, 0, 1], [1, 0, 0], [0, 1, 0]]), we need to turn it counterclockwise 90 degrees to not have the "out of bounds" error
      • If holding an apriltag at the bottom camera ([[0, -1, 0], [1, 0, 0], [0, 0, 1]]), we are unable to remote the error

      We have found this as well : https://forum.modalai.com/topic/2653/stereo-tag-detection-warning-apriltag-roll-pitch-out-of-bounds?_=1741697621820
      However, this code also keeps giving strange out of bounds errors.
      Is it possible to show a working tag_locations.conf for both a tag on the ground and a tag against the wall?
      We are not really experienced in the transforms needed and it seems like a problem with that

      posted in AprilTag Relocalization
      K
      Kessie
    • RE: Ardupilot : connection with Mission Planner

      @Eric-Katzfey, @Randy-Mackay After some more tests, we managed to get everything working.

      Mission Planner on clean Windows device still had port 14550 blocked for some reason.
      After a full reboot, it worked with initiating connection from the drone to the GCS.

      On Mac OS, using Mission Planner via Parallels Desktop : Here, you'll need to add port forwarding of UDP Port 14550.
      We've used a Shared Network and it also connect automatically from the drone to the GCS.

      Thanks for your insights!

      posted in VOXL 2
      K
      Kessie
    • RE: Ardupilot : connection with Mission Planner

      @Eric-Katzfey
      We reflashed to SDK 1.3.5 and did the installation of Ardupilot again. (Build : https://firmware.ardupilot.org/Copter/latest/QURT/voxl-ardupilot_ArduCopter_4.7.0-76aed8f8_arm64.deb)

      Output of voxl-version:

      --------------------------------------------------------------------------------
system-image: 1.7.10-M0054-14.1a-perf
kernel:       #1 SMP PREEMPT Fri Sep 27 21:59:02 UTC 2024 4.19.125
--------------------------------------------------------------------------------
hw platform:  M0054
mach.var:     1.0.1
--------------------------------------------------------------------------------
voxl-suite:   1.3.5
--------------------------------------------------------------------------------
Packages:
Repo:  http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-1.3/binary-arm64/
Last Updated: 2023-03-02 12:58:39
WARNING: repo file has changed since last update,
	packages may have originated from a different repo
List:
kernel-module-voxl-fsync-mod-4.19.125     1.0-r0
kernel-module-voxl-gpio-mod-4.19.125      1.0-r0
kernel-module-voxl-platform-mod-4.19.125  1.0-r0
libfc-sensor                              1.0.7
libmodal-cv                               0.5.11
libmodal-exposure                         0.1.1
libmodal-journal                          0.2.2
libmodal-json                             0.4.3
libmodal-pipe                             2.10.2
libqrb5165-io                             0.4.6
libvoxl-cci-direct                        0.2.3
libvoxl-cutils                            0.1.1
modalai-slpi                              1.1.19
mv-voxl                                   0.1-r0
qrb5165-bind                              0.1-r0
qrb5165-dfs-server                        0.2.0
qrb5165-imu-server                        1.0.1
qrb5165-rangefinder-server                0.1.3
qrb5165-slpi-test-sig                     01-r0
qrb5165-system-tweaks                     0.3.0
qrb5165-tflite                            2.8.0-2
voxl-ardupilot                            4.7.0-76aed8f8
voxl-bind-spektrum                        0.1.1
voxl-camera-calibration                   0.5.7
voxl-camera-server                        2.0.1
voxl-ceres-solver                         2:1.14.0-10
voxl-configurator                         0.8.5
voxl-cpu-monitor                          0.4.8
voxl-docker-support                       1.3.1
voxl-elrs                                 0.2.2
voxl-esc                                  1.4.7
voxl-feature-tracker                      0.4.1
voxl-flow-server                          0.3.6
voxl-fsync-mod                            1.0-r0
voxl-gphoto2-server                       0.0.10
voxl-gpio-mod                             1.0-r0
voxl-jpeg-turbo                           2.1.3-5
voxl-lepton-server                        1.2.3
voxl-lepton-tracker                       0.0.2
voxl-libgphoto2                           0.0.4
voxl-libuvc                               1.0.7
voxl-logger                               0.4.7
voxl-mavcam-manager                       0.5.7
voxl-mavlink                              0.1.1
voxl-mavlink-server                       1.4.2
voxl-modem                                1.1.3
voxl-mongoose                             7.7.0-1
voxl-mpa-to-ros                           0.3.9
voxl-mpa-tools                            1.2.3
voxl-neopixel-manager                     0.0.3
voxl-open-vins                            0.4.14
voxl-open-vins-server                     0.2.75
voxl-opencv                               4.5.5-2
voxl-osd                                  0.0.1
voxl-platform-mod                         1.0-r0
voxl-portal                               0.7.0
voxl-px4                                  1.14.0-2.0.84
voxl-px4-imu-server                       0.1.2
voxl-px4-params                           0.5.3
voxl-qvio-server                          1.0.4
voxl-remote-id                            0.0.9
voxl-reset-slpi                           0.0.1
voxl-state-estimator                      0.0.2
voxl-streamer                             0.7.4
voxl-suite                                1.3.5
voxl-tag-detector                         0.0.4
voxl-tflite-server                        0.3.4
voxl-utils                                1.4.3
voxl-uvc-server                           0.1.7
voxl-vision-hub                           1.8.9
voxl-vtx                                  1.1.0
voxl2-io                                  0.0.3
voxl2-system-image                        1.7.10-r0
voxl2-wlan                                1.0-r0
--------------------------------------------------------------------------------

      Output of voxl-inspect-services before disabling services:

      Scanning services...

 Service Name             |  Enabled  |   Running   |  CPU Usage
-------------------------------------------------------------------
 docker-autorun           | Disabled  | Not Running |  
 modallink-relink         | Disabled  | Not Running |  
 voxl-ardupilot           |  Enabled  |   Running   |     0.0%
 voxl-auto-logger         | Disabled  | Not Running |  
 voxl-camera-server       |  Enabled  |   Running   |   130.0%
 voxl-cpu-monitor         |  Enabled  |   Running   |     0.3%
 voxl-dfs-server          | Disabled  | Not Running |  
 voxl-feature-tracker     | Disabled  | Not Running |  
 voxl-flow-server         | Disabled  | Not Running |  
 voxl-imu-server          |  Enabled  |   Running   |     3.9%
 voxl-lepton-server       | Disabled  | Not Running |  
 voxl-lepton-tracker      | Disabled  | Not Running |  
 voxl-logger              | Disabled  | Not Running |  
 voxl-mavcam-manager      |  Enabled  |   Running   |     0.0%
 voxl-mavlink-server      |  Enabled  |   Running   |     1.2%
 voxl-modem               | Disabled  | Not Running |  
 voxl-neopixel-manager    | Disabled  | Not Running |  
 voxl-open-vins-server    | Disabled  | Not Running |  
 voxl-osd                 | Disabled  | Not Running |  
 voxl-portal              |  Enabled  |   Running   |     0.1%
 voxl-px4-imu-server      | Disabled  | Not Running |  
 voxl-px4                 | Disabled  | Not Running |  
 voxl-qvio-server         |  Enabled  |   Running   |     4.0%
 voxl-rangefinder-server  |  Enabled  |   Running   |     0.5%
 voxl-remote-id           | Disabled  | Not Running |  
 voxl-softap              | Disabled  | Not Running |  
 voxl-state-estimator     | Disabled  | Not Running |  
 voxl-static-ip           | Disabled  | Not Running |  
 voxl-streamer            |  Enabled  |   Running   |     0.2%
 voxl-tag-detector        | Disabled  | Not Running |  
 voxl-tflite-server       | Disabled  | Not Running |  
 voxl-time-sync           | Disabled  | Not Running |  
 voxl-uvc-server          | Disabled  | Not Running |  
 voxl-vision-hub          |  Enabled  |   Running   |     5.4%
 voxl-vrx                 | Disabled  | Not Running |  
 voxl-vtx                 | Disabled  | Not Running |  
 voxl-wait-for-fs         |  Enabled  |  Completed  |

      Output of voxl-inspect-services after disabling services:
      voxl2:~$ voxl-inspect-services

      Scanning services...

 Service Name             |  Enabled  |   Running   |  CPU Usage
-------------------------------------------------------------------
 docker-autorun           | Disabled  | Not Running |  
 modallink-relink         | Disabled  | Not Running |  
 voxl-ardupilot           |  Enabled  |   Running   |     0.0%
 voxl-auto-logger         | Disabled  | Not Running |  
 voxl-camera-server       | Disabled  | Not Running |  
 voxl-cpu-monitor         | Disabled  | Not Running |  
 voxl-dfs-server          | Disabled  | Not Running |  
 voxl-feature-tracker     | Disabled  | Not Running |  
 voxl-flow-server         | Disabled  | Not Running |  
 voxl-imu-server          | Disabled  | Not Running |  
 voxl-lepton-server       | Disabled  | Not Running |  
 voxl-lepton-tracker      | Disabled  | Not Running |  
 voxl-logger              | Disabled  | Not Running |  
 voxl-mavcam-manager      | Disabled  | Not Running |  
 voxl-mavlink-server      |  Enabled  | Not Running |  
 voxl-modem               | Disabled  | Not Running |  
 voxl-neopixel-manager    | Disabled  | Not Running |  
 voxl-open-vins-server    | Disabled  | Not Running |  
 voxl-osd                 | Disabled  | Not Running |  
 voxl-portal              | Disabled  | Not Running |  
 voxl-px4-imu-server      | Disabled  | Not Running |  
 voxl-px4                 | Disabled  | Not Running |  
 voxl-qvio-server         | Disabled  | Not Running |  
 voxl-rangefinder-server  | Disabled  | Not Running |  
 voxl-remote-id           | Disabled  | Not Running |  
 voxl-softap              | Disabled  | Not Running |  
 voxl-state-estimator     | Disabled  | Not Running |  
 voxl-static-ip           | Disabled  | Not Running |  
 voxl-streamer            | Disabled  | Not Running |  
 voxl-tag-detector        | Disabled  | Not Running |  
 voxl-tflite-server       | Disabled  | Not Running |  
 voxl-time-sync           | Disabled  | Not Running |  
 voxl-uvc-server          | Disabled  | Not Running |  
 voxl-vision-hub          | Disabled  | Not Running |  
 voxl-vrx                 | Disabled  | Not Running |  
 voxl-vtx                 | Disabled  | Not Running |  
 voxl-wait-for-fs         |  Enabled  |  Completed  |

      Output of netstat -tuln:

      Active Internet connections (only servers)
Proto Recv-Q Send-Q Local Address           Foreign Address         State      
tcp        0      0 127.0.0.53:53           0.0.0.0:*               LISTEN     
tcp        0      0 0.0.0.0:22              0.0.0.0:*               LISTEN     
tcp        0      0 0.0.0.0:8900            0.0.0.0:*               LISTEN     
tcp        0      0 127.0.0.1:5037          0.0.0.0:*               LISTEN     
tcp        0      0 0.0.0.0:80              0.0.0.0:*               LISTEN     
tcp6       0      0 :::22                   :::*                    LISTEN     
udp        0      0 127.0.0.53:53           0.0.0.0:*                          
udp        0      0 0.0.0.0:68              0.0.0.0:*                          
udp        0      0 0.0.0.0:69              0.0.0.0:*                          
udp        0      0 0.0.0.0:14550           0.0.0.0:*                          
udp        0      0 0.0.0.0:14556           0.0.0.0:*                          
udp        0      0 127.0.0.1:14557         0.0.0.0:*                          
udp        0      0 0.0.0.0:14558           0.0.0.0:*                          
udp        0      0 127.0.0.1:14559         0.0.0.0:*                          
udp6       0      0 :::69                   :::*

      Connection over USB using Mission Planner => Starts the connection and then times out (Tried baud rates 115200 (default AP) and 921600 (Configured in voxl-mavlink-server.conf))

      Station Mode tests (every time restarted voxl-mavlink-server)
      Connection using MavProxy on 14550 : Failed to connect to udp:150.0.0.221:14550 : [Errno 49] Can't assign requested address
      Connection using MavProxy on 14556 : Failed to connect to udp:150.0.0.221:14556 : [Errno 49] Can't assign requested address
      Connection using MavProxy on 14557 : Failed to connect to udp:150.0.0.221:14557 : [Errno 49] Can't assign requested address
      Connection using MavProxy on 14558 : Failed to connect to udp:150.0.0.221:14558 : [Errno 49] Can't assign requested address
      Connection using MavProxy on 14559 : Failed to connect to udp:150.0.0.221:14559 : [Errno 49] Can't assign requested address

      Connection using QGroundControl over port 14550 : Connected successfully

      Connection using Mission Planner on UDP port 14550 :

      Only one usage of each socket address (protocol/network address/port) is normally permitted

   at System.Net.Sockets.Socket.DoBind(EndPoint endPointSnapshot, SocketAddress socketAddress)
   at System.Net.Sockets.Socket.Bind(EndPoint localEP)
   at MissionPlanner.Comms.UdpSerial.Open() in C:\Users\mich1\Desktop\CubePilot\MissionPlanner\ExtLibs\Comms\CommsUdpSerial.cs:line 130
   at MissionPlanner.MAVLinkInterface.OpenBg(IProgressReporterDialogue PRsender, Boolean getparams) in C:\Users\mich1\Desktop\CubePilot\MissionPlanner\ExtLibs\ArduPilot\Mavlink\MAVLinkInterface.cs:line 886
   at MissionPlanner.Controls.ProgressReporterDialogue.RunBackgroundOperation(Object o) in C:\Users\mich1\Desktop\CubePilot\MissionPlanner\ExtLibs\Controls\ProgressReporterDialogue.cs:line 111

      Deleted the primary_static_gcs_ip from voxl-mavlink-server.conf
      Connection using Mission Planner with UDPCI on 14550 : Times out after 30 Seconds
      The log in voxl-mavlink-server show some sort of connection but the loses it because of the timeout

      voxl2:~$ voxl-mavlink-server
loading our own config file
=================================================================
Parameters as loaded from config file:
primary_static_gcs_ip:        
secondary_static_gcs_ip:      192.168.8.11
onboard_port_to_autopilot:    14556
onboard_port_from_autopilot:  14557
gcs_port_to_autopilot:        14558
gcs_port_from_autopilot:      14559
en_external_uart_ap:          0
autopilot_uart_bus:           1
autopilot_uart_baudrate:      921600
autopilot_mission_delay_start:      -1
udp_mtu:                      0
gcs_timeout_s                 4.50
en_external_ap_timesync:      1
en_external_ap_heartbeat:     1
=================================================================
starting receive thread for onboard channel from autopilot
starting receive thread for gcs channel from autopilot
CONNECTED to autopilot on gcs channel
Not connecting to primary gcs ip: 
Adding secondary manual gcs IP address to udp connection list: 192.168.8.11
Added new UDP connection to 192.168.8.11
Init complete, entering main loop
CONNECTED to autopilot on onboard channel
Detected Autopilot Mavlink SYSID 1
Added new UDP connection to 150.0.0.185
CONNECTED to GCS at 150.0.0.185
DISCONNECTED FROM GCS 150.0.0.185

      SoftAP Mode tests (every time restarted voxl-mavlink-server):
      Exactly the same results

      I'm going to try to take a capture of the traffic and compare the differences between QGroundControl and Mission Planner and revert back to you with more information

      posted in VOXL 2
      K
      Kessie
    • RE: Ardupilot : connection with Mission Planner

      Hi @Eric-Katzfey ,
      Also in AP mode we have the same issues.
      We both tried with the GCS IPs configured in voxl-mavlink-server.conf (connection initiated by Voxl) as well as GCS IP as “” and initiating the connection from the GCS.

      posted in VOXL 2
      K
      Kessie
    • RE: Ardupilot : connection with Mission Planner

      Hi @Randy-Mackay ,

      Thank you for your help.
      I followed the guide at https://docs.modalai.com/voxl-ardupilot/ and used the latest image available on the 17th of February.
      The problem seems to be related to the mavlink heartbeats not (frequently enough) being send as far as I can debug, but maybe I'm chasing ghosts.

      QGC and MavProxy work most of the time.
      QGC can always connect but when arming, I sometimes get the message that the vehicle did not arm while physically it is.
      MavProxy works approx. 50% of the time and the rest fails with "[Errno 49] Can't assign requested address"
      This was tested on 2 different laptops to exclude problems on 1 certain laptop

      posted in VOXL 2
      K
      Kessie
    • RE: Ardupilot : connection with Mission Planner

      @Eric-Katzfey Hi Eric,
      We've tested on Windows laptop, which was able to connect using Serial and UDP to another Ardupilot device.
      However, our Starling keeps not getting connection.
      When we initiate from the drone, no connection is established and when we initiate from Mission Planner, it seems like it starts the connection but no heartbeats are received.

      Is there maybe some specific implementation of voxl-mavlink-server which we must install?
      On a sidenote : is the code for voxl-ardupilot available? Because I couldn't find it on Gitlab.

      posted in VOXL 2
      K
      Kessie
    • RE: Ardupilot : connection with Mission Planner

      @Eric-Katzfey We're using a Starling 2 max (Rev. 2)

      Voxl-inspect-services :

      voxl2:~/workspace$ voxl-inspect-services
Scanning services...

 Service Name             |  Enabled  |   Running   |  CPU Usage
-------------------------------------------------------------------
 docker-autorun           | Disabled  | Not Running |  
 modallink-relink         | Disabled  | Not Running |  
 voxl-ardupilot           |  Enabled  |   Running   |     0.0%
 voxl-auto-logger         | Disabled  | Not Running |  
 voxl-camera-server       |  Enabled  |   Running   |    34.8%
 voxl-cpu-monitor         |  Enabled  |   Running   |     0.2%
 voxl-dfs-server          | Disabled  | Not Running |  
 voxl-elrs-startup        | Disabled  | Not Running |  
 voxl-feature-tracker     |  Enabled  |   Running   |    27.3%
 voxl-flow-server         | Disabled  | Not Running |  
 voxl-imu-server          |  Enabled  |   Running   |     1.0%
 voxl-io-server           | Disabled  | Not Running |  
 voxl-lepton-server       | Disabled  | Not Running |  
 voxl-lepton-tracker      | Disabled  | Not Running |  
 voxl-logger              | Disabled  | Not Running |  
 voxl-mavcam-manager      |  Enabled  |   Running   |     0.0%
 voxl-mavlink-server      |  Enabled  |   Running   |     0.2%
 voxl-microdds-agent      |  Enabled  |   Running   |     0.3%
 voxl-modem               | Disabled  | Not Running |  
 voxl-open-vins-server    |  Enabled  |   Running   |    23.5%
 voxl-osd                 | Disabled  | Not Running |  
 voxl-portal              |  Enabled  |   Running   |     0.1%
 voxl-px4-imu-server      | Disabled  | Not Running |  
 voxl-px4                 | Disabled  | Not Running |  
 voxl-qvio-server         | Disabled  | Not Running |  
 voxl-rangefinder-server  |  Enabled  |   Running   |     0.4%
 voxl-remote-id           | Disabled  | Not Running |  
 voxl-softap              | Disabled  | Not Running |  
 voxl-state-estimator     | Disabled  | Not Running |  
 voxl-static-ip           | Disabled  | Not Running |  
 voxl-streamer            |  Enabled  |   Running   |     0.0%
 voxl-tag-detector        |  Enabled  |   Running   |    11.9%
 voxl-tflite-server       | Disabled  | Not Running |  
 voxl-time-sync           | Disabled  | Not Running |  
 voxl-uvc-server          | Disabled  | Not Running |  
 voxl-vision-hub          |  Enabled  |   Running   |     0.3%
 voxl-vrx                 | Disabled  | Not Running |  
 voxl-vtx                 | Disabled  | Not Running |  
 voxl-wait-for-fs         |  Enabled  |  Completed  |

      Disabling all services except voxl-ardupilot and voxl-mavlink-server didn't solve the issue.
      The parameter SERIAL2_OPTIONS is already at 1024 (verified using QGC)

      I'm using Mission Planner via Parallels (Bridged network), so that's something which I need to eliminate as well.
      We will test tomorrow morning with a Windows PC to factor that out.

      posted in VOXL 2
      K
      Kessie
    • RE: Ardupilot : connection with Mission Planner

      @Eric-Katzfey Currently it is in station mode, but both should work indeed.
      Isn't there an option to initiate the connection from Mission Planner? I thought I used this in the past with other devices.
      Even when adapting voxl-mavlink-server.conf to my computer, the connection is not established, while I see traffic going back and forth using Wireshark.
      FYI : When connecting from QGC, I'm able to establish a connection.

      System image

      --------------------------------------------------------------------------------
system-image: 1.8.02-M0054-14.1a-perf
kernel:       #1 SMP PREEMPT Mon Nov 11 22:47:44 UTC 2024 4.19.125
--------------------------------------------------------------------------------
hw platform:  M0054
mach.var:     1.0.1
--------------------------------------------------------------------------------
voxl-suite:   1.4.0
--------------------------------------------------------------------------------
current IP:   wlan0: 192.168.68.110
--------------------------------------------------------------------------------

      Small log of running voxl-mavlink-server -m -n

      voxl2:~/workspace$ voxl-mavlink-server -m -n
Enabling UDP GCS recv debugging
Enabling UDP GCS send debugging
loading our own config file
=================================================================
Parameters as loaded from config file:
primary_static_gcs_ip:        192.168.68.115
secondary_static_gcs_ip:      192.168.8.2
onboard_port_to_autopilot:    14556
onboard_port_from_autopilot:  14557
gcs_port_to_autopilot:        14558
gcs_port_from_autopilot:      14559
en_external_uart_ap:          0
autopilot_uart_bus:           1
autopilot_uart_baudrate:      921600
autopilot_mission_delay_start:      -1
autopilot_mission_delay_sound:      0
autopilot_mission_notif_dur:      0.10
udp_mtu:                      0
gcs_timeout_s                 4.50
en_external_ap_timesync:      1
en_external_ap_heartbeat:     0
=================================================================
starting receive thread for onboard channel from autopilot
starting receive thread for gcs channel from autopilot
Adding primary GCS IP address from conf file to list: 192.168.68.115
Added new UDP connection to 192.168.68.115
Adding secondary manual gcs IP address to udp connection list: 192.168.8.2
Added new UDP connection to 192.168.8.2
Init complete, entering main loop
CONNECTED to autopilot on gcs channel
to GCS      msgid:    0 compid   1
CONNECTED to autopilot on onboard channel
Detected Autopilot Mavlink SYSID 1
to GCS      msgid:    0 compid 100
to GCS      msgid:  111 compid   1
to GCS      msgid:    0 compid   1
to GCS      msgid:    0 compid 100
to GCS      msgid:    0 compid   1
to GCS      msgid:    0 compid 100
to GCS      msgid:    0 compid   1
to GCS      msgid:    0 compid 100
to GCS      msgid:    0 compid   1
to GCS      msgid:    0 compid 100
to GCS      msgid:    0 compid   1
to GCS      msgid:    0 compid 100
to GCS      msgid:    0 compid   1
to GCS      msgid:    0 compid 100
to GCS      msgid:    0 compid   1
to GCS      msgid:    0 compid 100
to GCS      msgid:    0 compid   1
to GCS      msgid:    0 compid 100
to GCS      msgid:    0 compid   1
to GCS      msgid:    0 compid 100
to GCS      msgid:    0 compid   1
to GCS      msgid:    0 compid 100
to GCS      msgid:  111 compid   1
to GCS      msgid:    0 compid   1
to GCS      msgid:    0 compid 100
to GCS      msgid:    0 compid   1
to GCS      msgid:    0 compid 100
to GCS      msgid:    0 compid   1
to GCS      msgid:    0 compid 100
to GCS      msgid:    0 compid   1
to GCS      msgid:    0 compid 100
to GCS      msgid:    0 compid   1
to GCS      msgid:    0 compid 100
to GCS      msgid:    0 compid   1
to GCS      msgid:    0 compid 100
to GCS      msgid:    0 compid   1
to GCS      msgid:    0 compid 100
to GCS      msgid:    0 compid   1
to GCS      msgid:    0 compid 100
to GCS      msgid:    0 compid   1
to GCS      msgid:    0 compid 100
to GCS      msgid:    0 compid   1
to GCS      msgid:    0 compid 100
to GCS      msgid:  111 compid   1
to GCS      msgid:    0 compid   1
to GCS      msgid:    0 compid 100
to GCS      msgid:    0 compid   1
to GCS      msgid:    0 compid 100
to GCS      msgid:    0 compid   1
to GCS      msgid:    0 compid 100
to GCS      msgid:    0 compid   1
to GCS      msgid:    0 compid 100
to GCS      msgid:    0 compid   1
to GCS      msgid:    0 compid 100
to GCS      msgid:    0 compid   1
to GCS      msgid:    0 compid 100
to GCS      msgid:    0 compid   1
to GCS      msgid:    0 compid 100
to GCS      msgid:    0 compid   1
to GCS      msgid:    0 compid 100
to GCS      msgid:    0 compid   1
to GCS      msgid:    0 compid 100
to GCS      msgid:    0 compid   1
to GCS      msgid:    0 compid 100
to GCS      msgid:  111 compid   1
to GCS      msgid:    0 compid   1
to GCS      msgid:    0 compid 100
to GCS      msgid:    0 compid   1
to GCS      msgid:    0 compid 100
to GCS      msgid:    0 compid   1
to GCS      msgid:    0 compid 100
to GCS      msgid:    0 compid   1
to GCS      msgid:    0 compid 100
from GCS    ID:   0 port: 54814 IP: 192.168.68.115 
CONNECTED to GCS at 192.168.68.115
to GCS      msgid:  331 compid 197
to GCS      msgid:  330 compid 197
to GCS      msgid:  132 compid 197
to GCS      msgid:  331 compid 197
to GCS      msgid:  330 compid 197
to GCS      msgid:  331 compid 197
from GCS    ID:  66 port: 54814 IP: 192.168.68.115 
from GCS    ID:  66 port: 54814 IP: 192.168.68.115 
to GCS      msgid:  132 compid 197
from GCS    ID:  66 port: 54814 IP: 192.168.68.115 
from GCS    ID:  66 port: 54814 IP: 192.168.68.115 
from GCS    ID:  66 port: 54814 IP: 192.168.68.115 
from GCS    ID:  66 port: 54814 IP: 192.168.68.115 
from GCS    ID:  66 port: 54814 IP: 192.168.68.115 
from GCS    ID:  66 port: 54814 IP: 192.168.68.115 
from GCS    ID:  66 port: 54814 IP: 192.168.68.115 
from GCS    ID:  66 port: 54814 IP: 192.168.68.115 
from GCS    ID:  66 port: 54814 IP: 192.168.68.115 
from GCS    ID:  66 port: 54814 IP: 192.168.68.115 
from GCS    ID:  66 port: 54814 IP: 192.168.68.115 
from GCS    ID:  66 port: 54814 IP: 192.168.68.115 
to GCS      msgid:  331 compid 197
to GCS      msgid:  330 compid 197
to GCS      msgid:  331 compid 197
to GCS      msgid:  132 compid 197
to GCS      msgid:  330 compid 197
to GCS      msgid:  331 compid 197
to GCS      msgid:  132 compid 197
to GCS      msgid:  331 compid 197
to GCS      msgid:  330 compid 197
to GCS      msgid:  331 compid 197
to GCS      msgid:    0 compid   1
to GCS      msgid:  330 compid 197
to GCS      msgid:  132 compid 197
to GCS      msgid:  331 compid 197
      posted in VOXL 2
      K
      Kessie
    • Ardupilot : connection with Mission Planner

      Is there any information concerning connecting VOXL 2 (running Ardupilot 4.7 as per the documentation) to Mission Planner over UDP?
      Whatever I try, MP doesn't receive any heartbeats back.
      The mavlink-server and voxl-ardupilot are correctly running and even voxl-ardupilot reports at the moment that I connect using Mission Planner a new connection with GCS.

      posted in VOXL 2
      K
      Kessie
    • RE: Apriltag relocalization not relocalizing?

      @James-Strawson Hi, we are testing this and are keep getting roll/pitch out of bounds while the tag is laying flat on the floor.

      posted in AprilTag Relocalization
      K
      Kessie
    • RE: How to tune OpenVins

      @Cliff-Wong We have tested further, but we keep getting drift on the Z-axis.
      There are moments that it works OK-ish, but the majority of our tests, the height estimates starts to go down (value goes up) and we have no clue about the reason.
      FYI : We are testing this in a warehouse with plenty of good features and consistent lighting.

      posted in GPS-denied Navigation (VIO)
      K
      Kessie
    • RE: Calibrate overlay freezes

      @Alex-Kushleyev After updating voxl-portal, it indeed worked.
      It is peculiar, because I didn't notice the tracking camera freezing before, only the calibration overlay.
      Thanks for the quick support!

      posted in Image Sensors
      K
      Kessie
    • Calibrate overlay freezes

      I’m trying to calibrate a tracking camera of the Starling 2 max.
      When I start voxl-calibrate-camera a new pipe is created but it freezes.
      What could be the reason?
      I’ve stopped all the services besides the camera server to make sure that it isn’t a cpu problem but to no avail

      posted in Image Sensors
      K
      Kessie
    • RE: How to tune OpenVins

      @Cliff-Wong sure, it is the default for Starling 2 Max:
      {
      "cams": [{
      "enable": true,
      "name": "tracking_front",
      "pipe_for_preview": "tracking_front",
      "pipe_for_tracking": "tracking_front_misp_norm",
      "is_occluded_on_ground": false,
      "imu": "imu_apps",
      "cal_file": "opencv_tracking_front_intrinsics.yml"
      },{
      "enable": true,
      "name": "tracking_down",
      "pipe_for_preview": "tracking_down",
      "pipe_for_tracking": "tracking_down_misp_norm",
      "is_occluded_on_ground": true,
      "imu": "imu_apps",
      "cal_file": "opencv_tracking_down_intrinsics.yml"
      }]
      }

      We've also tried to only use the front-tracking camera, but with a same result.

      The longer waiting time was because we were checking the number of keypoints and the 6DoF result in ov_overlay before taking off. (Hoping to identify what is the culprit)
      We will try tuning the mentioned parameters

      posted in GPS-denied Navigation (VIO)
      K
      Kessie
    • How to tune OpenVins

      We are testing with the new SDK1.14 and the OpenVins implementation.
      The basic test that we're doing is taking off to 1m and staying there.
      What we did see is that out of 50 tests that we did, only 10 were relatively correct. The other ones where going a lot higher.

      Hereby 2 flight logs that you can check :
      Bad flight : https://review.px4.io/plot_app?log=5e809b1e-3473-425c-8d42-9dce0472b1ef
      Good flight :https://review.px4.io/plot_app?log=9fdb3a61-3e4d-4eb2-9b35-10072e665f28

      How can we tune the performance and accuracy of indoor flights?
      Can we get some technical help on this, please?

      posted in GPS-denied Navigation (VIO)
      K
      Kessie
    • Apriltag relocalization not relocalizing?

      Hi,
      We have enabled en_tag_fixed_frame in voxl-vision-hub to use apriltag detection as a way to relocalize indoor.
      Am i correct to assume that the following is a tag located on the ground at point 0,0,0?
      "T_tag_wrt_fixed": [0, 0, 0],
      "R_tag_to_fixed": [[0, -1, 0], [1, 0, 0], [0, 0, 1]]

      What would be the rotation matrix for a tag located forward against the wall?
      What's the best way to test that the relocalisation actually happens?

      system-image: 1.7.10-M0054-14.1a-perf
      kernel: #1 SMP PREEMPT Fri Sep 27 21:59:02 UTC 2024 4.19.125

      hw platform: M0054
      mach.var: 1.0.1

      voxl-suite: 1.3.5

      posted in AprilTag Relocalization
      K
      Kessie
    • Creating image of current state

      Hi,
      Is there a way to snapshot the current state before upgrading the SDK?
      I want to try the SDK v1.4 but in case of problems need to revert back to the current state.

      Thanks in advance,
      Maarten

      posted in Ask your questions right here!
      K
      Kessie