Topics created by Kessie

@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

@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!

@Kessie

Again, longer waiting times on the ground during pre-flight (<2min) will introduce drift either by thermal issues or feature noise.

To address thermal issues, the IMU is not temperature calibrated from the factory. You can do so by running
voxl-calibrate-imu-temp

To address feature noise, you can raise the drone a couple inches above the ground (typically 3 inches).

If both cases cannot be done in your application, we do offer a blind takeoff feature in ovins, by setting in voxl-open-vins-sever.conf:
"en_vio_always_on": false
But note, you will see vio stay 0,0,0 (even if you move the drone) and see any feature points freeze in place as this feature holds the vio state at 0,0,0 until the drone is armed and very slow takeoffs can introduce a static Z offset upto 0.1m.

@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.

@Kessie Not exactly, but the important data to retain lives in /data/ or /data/modalai

The SDK flash will attempt to retain this partition, but in certain cases it requires a wipe.

I would take note of /data/modalai/sku.txt

as well as pull off any calibration files in /data/modalai, you can see if you have any onboard currently by running voxl-check-calibration

If you have this data saved you'll have no issue getting back to your previous state, I can help guide you through it if you run into any issues.

@Kessie D0012 is Starling 2 Max, voxl-esc setup_D0012 will load the correct firmware for your board as well as the correct params for your drone