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    mkwan

    @mkwan

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    Best posts made by mkwan

    • Apriltag landing fixed frame ROS interface

      Re: How can I see the apriltag offset in ROS

      Hello, I encountered some unexpected behavior when using Apriltag Relocalization to try to land with an offboard command like this.

      I'd like to be able to parse current location data so I can add safety checks to my offboard code. However, voxl-mpa-to-ros doesn't seem to output the fixed frame tf data.

      It seems like there isn't an interface for the pose_vel_6dof_t type such as /run/mpa/vvpx4_body_wrt_fixed or /run/mpa/vvpx4_body_wrt_local: interface_manager , interfaces

      I'm running voxl-suite: 0.8.1

      Is there a way I can interface with the fixed frame tf so that I can do Apriltag landing with some safety checks?

      posted in Ask your questions right here!
      M
      mkwan

    Latest posts made by mkwan

    • Cannot upgrade from Graupner to Spektrum

      Hello,

      In the field we found the Graupner RC on our m500 to have a range of 30-50m, which is much less than what we were expecting. So we upgraded to a Spektrum DSMX RX and DX8e TX which we've worked with at 150m on a Sentinel.

      We were able to replace the RX and wire the RC cables per VOXL Flight Core instructions, and we were able to bind via controller and QGC (solid orange light on RX). However, QGC cannot calibrate ("Detected 0 radio channels. To operate PX4 you need at least 5 channels").

      We restarted the drone, QGC, and the TX several times, no change.

      In voxl-px4-shell I noticed rc_input status says the mode is in SBUS, could this be the issue? I also noticed there is no spektrum_rc command in the px4 shell.

      What do you think? Thanks in advance.

      posted in VOXL m500 Reference Drone
      M
      mkwan
    • Snapshot crashes voxl-camera-server

      Re: Minimal example of using camera_cb

      I get an error when trying snapshot on the Sentinel, voxl-suite 0.8.1.

      Input:

      voxl2:/run/mpa/hires$ echo "snapshot" > control

      Output:

      Nov 04 16:20:41 m0054 bash[24392]: Camera: hires taking snapshot (destination: /data/snapshots/hires-0.jpg)
Nov 04 16:20:41 m0054 bash[24392]: free(): invalid pointer
Nov 04 16:20:41 m0054 systemd[1]: voxl-camera-server.service: Main process exited, code=killed, status=6/ABRT
Nov 04 16:20:41 m0054 systemd[1]: voxl-camera-server.service: Failed with result 'signal'.

      My voxl services:

      voxl2:~$ voxl-inspect-services -v
 Service Name         |  Version  |  Enabled  |   Running   |  CPU Usage
---------------------------------------------------------------------------
 docker-autorun       |    1.2.4  | Disabled  | Not Running |  
 docker-daemon        |    1.2.4  | Disabled  | Not Running |  
 modallink-relink     |   0.16.0  | Disabled  | Not Running |  
 voxl-camera-server   |    1.1.0  |  Enabled  |   Running   |    61.1
 voxl-cpu-monitor     |    0.2.6  |  Enabled  |   Running   |     0.0
 voxl-dfs-server      |    0.0.5  |  Enabled  |   Running   |     0.0
 voxl-imu-server      |    0.2.4  |  Enabled  |   Running   |     5.6
 voxl-mavlink-server  |    0.1.3  |  Enabled  |   Running   |     0.0
 voxl-modem           |   0.16.0  | Disabled  | Not Running |  
 voxl-mpa-to-ros      |    0.2.8  |  Enabled  |   Running   |     0.0
 voxl-portal          |    0.1.2  |  Enabled  |   Running   |    38.9
 voxl-px4-imu-server  |   1.4.16  | Disabled  | Not Running |  
 voxl-px4             |    0.7.1  |  Enabled  |   Running   |     0.0
 voxl-qvio-server     |    0.1.3  |  Enabled  |   Running   |    27.8
 voxl-softap          |    0.1.3  | Disabled  | Not Running |  
 voxl-static-ip       |    0.3.6  | Disabled  | Not Running |  
 voxl-streamer        |    0.0.4  |  Enabled  |   Running   |     0.0
 voxl-tag-detector    |    0.2.7  | Disabled  | Not Running |  
 voxl-tflite-server   |    1.1.4  | Disabled  | Not Running |  
 voxl-time-sync       |    1.2.0  | Disabled  | Not Running |  
 voxl-vision-px4      |    1.1.4  |  Enabled  |   Running   |     0.0
 voxl-wait-for-fs     |           |  Enabled  |  Completed  |

      Any advice?
      cc @Alex-Gardner

      posted in Sentinel
      M
      mkwan
    • RE: Minimal example of using camera_cb

      @Alex-Gardner I get an error when trying snapshot on the Sentinel, voxl-suite 0.8.1.

      Input:

      voxl2:/run/mpa/hires$ echo "snapshot" > control

      Output:

      Nov 04 16:20:41 m0054 bash[24392]: Camera: hires taking snapshot (destination: /data/snapshots/hires-0.jpg)
Nov 04 16:20:41 m0054 bash[24392]: free(): invalid pointer
Nov 04 16:20:41 m0054 systemd[1]: voxl-camera-server.service: Main process exited, code=killed, status=6/ABRT
Nov 04 16:20:41 m0054 systemd[1]: voxl-camera-server.service: Failed with result 'signal'.

      Any advice?

      posted in VOXL m500 Reference Drone
      M
      mkwan
    • Apriltag landing fixed frame ROS interface

      Re: How can I see the apriltag offset in ROS

      Hello, I encountered some unexpected behavior when using Apriltag Relocalization to try to land with an offboard command like this.

      I'd like to be able to parse current location data so I can add safety checks to my offboard code. However, voxl-mpa-to-ros doesn't seem to output the fixed frame tf data.

      It seems like there isn't an interface for the pose_vel_6dof_t type such as /run/mpa/vvpx4_body_wrt_fixed or /run/mpa/vvpx4_body_wrt_local: interface_manager , interfaces

      I'm running voxl-suite: 0.8.1

      Is there a way I can interface with the fixed frame tf so that I can do Apriltag landing with some safety checks?

      posted in Ask your questions right here!
      M
      mkwan
    • RE: Sentinel VOA software not available

      @Alex-Gardner said in Sentinel VOA software not available:

      platform 1.3.1-0.8

      Yes, it worked! I am able to see correct data via voxl-vision-px4 -s and use PX4's Collision Prevention feature.

      The drone was shipped with system-image: 1.2.1-M0054-14.1a-perf and voxl-suite: 0.7.0, but after flashing to Voxl2 Platform 1.3.1-0.8, VOA worked out of the box as described. (Note: during the flashing, I noticed the Sentinel documentation does not list this newest release.)

      To others reading this, some tips:

      1. Use your /data folder to backup any files you don't want wiped, such as changes to /home/root.
      2. In QGroundControl, save your factory params so you don't have to recalibrate your sensors. (Parameters -> Tools -> Save to file...)
      3. Run and save apt list --installed in case there's some apt packages you don't want to forget.
      4. Don't forget to redo the parameters in QGroundControl as mentioned in the VOA documentation.

      Thanks, @Alex-Gardner!

      posted in Sentinel
      M
      mkwan
    • RE: Sentinel VOA software not available

      tl;dr: No difference when renaming stereo_front to stereo

      As a test, I edited the config files to rename stereo_front to stereo:

      • voxl-camera-server.conf
      • extrinsics.conf
      • voxl-dfs-server.conf
      • /run/mpa/stereo_front

      Output of voxl-inspect-extrinsics:

      #5:
    parent:                body
    child:                 stereo
    T_child_wrt_parent:    0.079  -0.040  -0.024 
    RPY_parent_to_child:   0.0    90.0    90.0  
    R_child_to_parent:     0.000  -0.000   1.000 
                           1.000   0.000  -0.000 
                          -0.000   1.000   0.000

      I could see stereo_pc via voxl-portal populating successfully, but no change to voa_pc_out.

      Same output from voxl-vision-px4 as before:

      # voxl-vision-px4 -s
detected platform NOT APQ8096
loading our own config file
=================================================================
Parameters as loaded from config file:
config file version:        1
qgc_ip:                     192.168.168.101
en_secondary_qgc:           0
secondary_qgc_ip:           192.168.1.214
qgc_udp_port_number:        14550
udp_mtu:                    512
en_localhost_mavlink_udp    1
localhost_udp_port_number:  14551
en_vio:                     1
en_voa:                     1
en_send_vio_to_qgc:         1
en_send_voa_to_qgc:         1
voa_upper_bound_m:          -0.150000
voa_lower_bound_m:          0.150000
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
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: 192.168.168.101
Added new UDP connection to 192.168.168.101
starting fixed pose input
starting vio manager
starting tag manager
starting voa manager
starting control input pipe
Init complete, entering main loop
failed to send VOA data out uart to PX4 // note, this eventually does connect
...

Connected to voxl-mavlink-server
Detected PX4 Mavlink SYSID 1
...
Connected to voxl-qvio-server
updating to use imu: imu_apps
done updating transforms to use imu: imu_apps
...
index:  0  dist: none back
index:  1  dist: none
index:  2  dist: none
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index: 18  dist: none forward
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index:  0  dist: none back
index:  1  dist: none
index:  2  dist: none
index:  3  dist: none
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index:  5  dist: none
index:  6  dist: none
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index:  9  dist: none left
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index: 17  dist: none
index: 18  dist: none forward
index: 19  dist: none
index: 20  dist: none
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index: 26  dist: none
index: 27  dist: none right
index: 28  dist: none
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index: 33  dist: none
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index: 35  dist: none
index: 36  dist: none
      posted in Sentinel
      M
      mkwan
    • RE: Sentinel VOA software not available

      @mkwan said in Sentinel VOA software not available:

      I have enabled voxl-dfs-server, and I can see correct point clouds from stereo_front_pc and stereo_rear_pc using voxl-portal. I can also see correct stereo_front_disparity and stereo_rear_disparity.

      I have set en_voa to true, and en_send_voa_to_qgc to true, and I can see OBSTACLE_DISTANCE messages in QGC but they are all 1001 when max_distance is 1000.

      Hi @Alex-Gardner, thanks for looking into this. Does this setup look correct? This should cover the steps listed in voxl-vision-px4.

      Do you think it is because the Sentinel has two stereo cams, ie stereo_front and stereo_rear, instead of a body->stereo_ tf?

      Is the voxl-version the Sentinel shipped with equipped to handle voa with multiple input streams? voxl-suite: 0.7.0

      voxl-inspect-extrinsics:

      #5:
    parent:                body
    child:                 stereo_front_l
    T_child_wrt_parent:    0.079  -0.040  -0.024 
    RPY_parent_to_child:   0.0    90.0    90.0  
    R_child_to_parent:     0.000  -0.000   1.000 
                           1.000   0.000  -0.000 
                          -0.000   1.000   0.000 
#6:
    parent:                body
    child:                 stereo_rear_l
    T_child_wrt_parent:   -0.030   0.040   0.042 
    RPY_parent_to_child:   0.0   -90.0   -90.0  
    R_child_to_parent:     0.000   0.000  -1.000 
                          -1.000   0.000  -0.000 
                           0.000   1.000   0.000 
#7:
    parent:                body
    child:                 tof
    T_child_wrt_parent:    0.078   0.000  -0.025 
    RPY_parent_to_child:   0.0    90.0    90.0  
    R_child_to_parent:     0.000  -0.000   1.000 
                           1.000   0.000  -0.000 
                          -0.000   1.000   0.000
      posted in Sentinel
      M
      mkwan
    • Sentinel VOA software not available

      Hello,

      My Sentinel drone is not outputting valid VOA measurements.

      I have enabled voxl-dfs-server, and I can see correct point clouds from stereo_front_pc and stereo_rear_pc using voxl-portal. I can also see correct stereo_front_disparity and stereo_rear_disparity.

      I have set en_voa to true, and en_send_voa_to_qgc to true, and I can see OBSTACLE_DISTANCE messages in QGC but they are all 1001 when max_distance is 1000.

      This is the list of items in /run/mpa:

      cpu_monitor	qvio_extended		       stereo_front_pc		     tracking		   vvpx4_fixed_pose_input
hires		qvio_overlay		       stereo_rear		     voa_pc_out		   vvpx4_gps_raw_int
imu_apps	stereo_front		       stereo_rear_disparity	     vvpx4_body_wrt_fixed  vvpx4_mavlink_io
mavlink_to_px4	stereo_front_disparity	       stereo_rear_disparity_scaled  vvpx4_body_wrt_local  vvpx4_sys_status
qvio		stereo_front_disparity_scaled  stereo_rear_pc		     vvpx4_control_input   vvpx4_vehicle_gps

      The command voxl-inspect-points voa_pc_out returns no data:

      timestamp(ms)| # points | # bytes |     1st point     | Format

      According to the documentation at https://docs.modalai.com/sentinel-user-guide-using-voa/, I should be able to run

      • voxl-voa-server-configure
      • voxl-voa-to-px4
      • voxl-voa-client

      but none of these commands are available.

      -bash: voxl-voa-server-configure: command not found

      Here is my version:

      root@qrb5165-rb5:/run/mpa# voxl-version 
--------------------------------------------------------------------------------
system-image: 1.2.1-M0054-14.1a-perf
kernel:       #1 SMP PREEMPT Mon Apr 18 20:36:27 UTC 2022 4.19.125
--------------------------------------------------------------------------------
hw version:   M0054
--------------------------------------------------------------------------------
voxl-suite:   0.7.0
--------------------------------------------------------------------------------

      Here is my voxl-inspect-services

      root@qrb5165-rb5:/run/mpa# voxl-inspect-services 
 Service Name         |  Enabled  |   Running   |  CPU Usage
---------------------------------------------------------------
 docker-autorun       | Disabled  | Not Running |  
 docker-daemon        | Disabled  | Not Running |  
 modallink-relink     | Disabled  | Not Running |  
 voxl-camera-server   |  Enabled  |   Running   |    83.3
 voxl-cpu-monitor     |  Enabled  |   Running   |     0.0
 voxl-dfs-server      |  Enabled  |   Running   |   144.4
 voxl-imu-server      |  Enabled  |   Running   |     0.0
 voxl-mavlink-server  |  Enabled  |   Running   |     0.0
 voxl-modem           |  Enabled  | Not Running |  
 voxl-portal          |  Enabled  |   Running   |     0.0
 voxl-px4-imu-server  | Disabled  | Not Running |  
 voxl-px4             |  Enabled  |   Running   |     0.0
 voxl-qvio-server     |  Enabled  |   Running   |    44.4
 voxl-static-ip       | Disabled  | Not Running |  
 voxl-streamer        |  Enabled  |   Running   |    22.2
 voxl-tag-detector    | Disabled  | Not Running |  
 voxl-tflite-server   | Disabled  | Not Running |  
 voxl-time-sync       | Disabled  | Not Running |  
 voxl-vision-px4      |  Enabled  |   Running   |     0.0
 voxl-wait-for-fs     |  Enabled  |  Completed  |

      Am I missing something to get Sentinel's VOA to run?

      Thanks!

      posted in Sentinel
      M
      mkwan