Posts made by Muqing Cao

@zauberflote1 where is beta firmware? I cant find it in the download page.

@zauberflote1 thanks for your info. When will 1.6.3 be released? I see in the instruction that updating sdk will reset all config files, since we use starling 2 max, do we have to change the configs file to the startling-specific configs after update?

@zauberflote1 1.5.1

@Zachary-Lowell-0 Thanks! Indeed we also had the problem of height estimate unstable in px4, we will try barometer calibration.
But VIO doesnt use barometer and we still need good VIO position. Any suggestion on improving the VIO odometry output?

HI,

we are using starling 2 max and are testing the vio performance. Both vio methods performs well in handhold moving tests. We fly the drone manually in a feature-rich indoor environment. Qvio performs ok during takeoff but drifts away after some yawing motions of the drone. Open-vins drifts ~1m downwards during takeoff but maintains well after takeoff.

We need a good vio performance for indoor test, what is your recommendation? The performance is certainly affected by the imu noise, are there any setups or parameters that we can tune?
Thanks!

@Zachary-Lowell-0 after turning off open-vins and rebooting it works. thanks!

@zauberflote1 it's 1.5.1

@Eric-Katzfey any idea how to resolve this? we need to get the position mode flying soon. thanks.

@Eric-Katzfey
en_vio is set to true

we have got a starling 2 max and enabled the qvio service. In GUI the qvio outputs good odometry:

However, in px4 mavlink list, we cannot find the odometry mavlink message. And the local position estimate gives very high velocity even when the drone is static:

This is the list of qvio services running:

@Eric-Katzfey Thank you. Could you lead me to the part of the code that sends the odometry mavlink msg in voxl sdk? That would be very helpful.

@Eric-Katzfey Thanks for your reply. Can we have more details about the interface we could use to feed position estimate?

About using another state estimation source, we would like to replace the onboard qvio with some lidar based odometry for localization and position hold purpose. Say we can get lidar-based position estimate in ROS message, can we disable the onboard VIO and feed our position estimate to the onboard flight controller through MAVROS or something else?
Please advise!

@Muqing-Cao said in Integrating lidar sensor:

About using another state estimation source, can you suggest me how to do that? Say we can get lidar-based position estimate in ROS message, can we disable the onboard VIO and feed our position estimate to the onboard flight controller through MAVROS or something else? Please advise.

Please help advise on this question, thanks

@tom Thanks. I will get one of that.
About using another state estimation source, can you suggest me how to do that? Say we can get lidar-based position estimate in ROS message, can we disable the onboard VIO and feed our position estimate to the onboard flight controller through MAVROS or something else? Please advise.

@tom I see thanks. How about this one: https://www.modalai.com/products/m0062-2?srsltid=AfmBOoq_b52cK1R5X-8pluAer7oqq-BJb2Y1E2yUVsF2lFkwMl7mAFo2
It already has a usb and ethernet port, which seems to be more ideal for my case. Can it be fitted to starling 2 max without causing other issues?

@tom Ah... So what is your recommendation in this case? We need both wifi and connection to a ethernet device.

@tom I see. which port on the voxl 2 should i connect this board to? I wonder if this port has been already occupied on the starling 2 max drone.

@tom Thanks for your reply. Following up with some more details: i believe you mean connecting to the usb-c connector at the side of the the voxl2 board?
If we want to use the lidar-based odometry to replace the onboard qvio, what should we do? Should we inject the estimation into PX4 using MAVROS?

Hi, can some support answer this question?