ModalAI Forum
    • Categories
    • Recent
    • Tags
    • Popular
    • Users
    • Groups
    • Register
    • Login
    1. Home
    2. Nicholas Sheldon
    3. Posts
    • Profile
    • Following 0
    • Followers 0
    • Topics 1
    • Posts 1
    • Best 0
    • Controversial 0
    • Groups 0

    Posts made by Nicholas Sheldon

    • Starling 2 VIO Failure

      Hello! I am struggling to resolve an issue with our starling 2. In the process of building and deploying our own offboard mode, it seems that we have introduced a problem. We have since cloned the voxl-vision-hub repo, and built and deployed it in attempt to get back to square one. We cannot get VIO to work properly anymore. Please help me determine how to make progress!

      Background:

      system-image: 1.8.04-M0054-14.1a-perf
      kernel:       #1 SMP PREEMPT Mon Mar 24 22:31:58 UTC 2025 4.19.125
      ────────────────────────────────────────────────────────────────────────────────
      hw platform:  M0054
      mach.var:     1.0.1
      SKU:          MRB-D0014-4-V1-C27-T7-M22-X0
      ────────────────────────────────────────────────────────────────────────────────
      voxl-suite:   1.5.0
      ─────────────────────────────────────────
      
      voxl2:/$ voxl-inspect-services
      Scanning services...
      
       Service Name             |  Enabled  |   Running   |  CPU Usage
      ───────────────────────────────────────────────────────────────────
       docker-autorun           | Disabled  | Not Running |  
       modallink-relink         | Disabled  | Not Running |  
       voxl-camera-server       |  Enabled  |   Running   |    75.0%
       voxl-cpu-monitor         |  Enabled  |   Running   |     0.0%
       voxl-dfs-server          | Disabled  | Not Running |  
       voxl-elrs-startup        | Disabled  | Not Running |  
       voxl-feature-tracker     | Disabled  | Not Running |  
       voxl-flow-server         | Disabled  | Not Running |  
       voxl-imu-server          |  Enabled  |   Running   |     1.9%
       voxl-joystick-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   |     1.9%
       voxl-mini-tof-server     | Disabled  | Not Running |  
       voxl-modem-doodle        | Disabled  | Not Running |  
       voxl-modem               | Disabled  | Not Running |  
       voxl-open-vins-server    |  Enabled  |   Running   |    82.7%
       voxl-osd                 | Disabled  | Not Running |  
       voxl-portal              |  Enabled  |   Running   |     0.0%
       voxl-px4                 |  Enabled  |   Running   |    25.0%
       voxl-qvio-server         |  Enabled  |   Running   |    34.6%
       voxl-rangefinder-server  |  Enabled  |   Running   |     0.0%
       voxl-remote-id           | Disabled  | Not Running |  
       voxl-seek-server         | 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        | 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  | Not Running |  
       voxl-vrx                 | Disabled  | Not Running |  
       voxl-vtx                 | Disabled  | Not Running |  
       voxl-wait-for-fs         |  Enabled  |  Completed  |  
      

      Here is the message we get when running voxl-vision-hub -o (important part at bottom):

      voxl2:/$ voxl-vision-hub -o
      loading our own config file
      =================================================================
      Parameters as loaded from config file:
      config_file_version:        1
      
      MAVROS / MAVSDK
      en_localhost_mavlink_udp    0
      localhost_udp_port_number:  14551
      
      VIO
      en_vio:                     1
      vio_pipe:                   qvio
      secondary_vio_pipe:         ov
      en_reset_vio_if_initialized_inverted: 1
      vio_warmup_s:               10.000000
      send_odom_while_failed:     1
      
      MISC FEATURES
      horizon_cal_tolerance:      0.500000
      en_hitl:                    0
      OFFBOARD MODE
      offboard_mode:              figure_eight
      follow_tag_id:              0
      figure_eight_move_home:     1
      wps_move_home:     1
      wps_timeout:     0.000000
      wps_damp:     1.000000
      wps_vfc_mission:     true
      wps_vfc_mission_loop:     false
      wps_vfc_mission_to_ramp:     25.000000
      wps_vfc_mission_cruise_speed:     1.000000
      wps_vfc_mission_to_kp:     0.100000
      robot_radius:               0.300000
      collision_sampling_dt:      0.100000
      max_lookahead_distance:     1.000000
      backtrack_seconds     :     60
      backtrack_rc_chan     :     8
      backtrack_rc_thresh   :     1500
      FIXED FRAME RELOCALIZATION
      en_tag_fixed_frame:         0
      fixed_frame_filter_len:     5
      en_transform_mavlink_pos_setpoints_from_fixed_frame:0
      
      VOXL FLIGHT CONTROLLER (VFC)
      vfc_rate                    100.000000
      vfc_rc_chan_min             980
      vfc_rc_chan_max             2020
      vfc_thrust_ch               3
      vfc_roll_ch                 1
      vfc_pitch_ch                2
      vfc_yaw_ch                  4
      vfc_submode_ch              6
      vfc_alt_mode_rc_min         0
      vfc_alt_mode_rc_max         0
      vfc_flow_mode_rc_min        0
      vfc_flow_mode_rc_max        0
      vfc_hybrid_flow_mode_rc_min 0
      vfc_hybrid_flow_mode_rc_max 0
      vfc_position_mode_rc_min    0
      vfc_position_mode_rc_max    2100
      vfc_traj_mode_rc_min        0
      vfc_traj_mode_rc_max        0
      vfc_yaw_deadband            30
      vfc_vxy_deadband            50
      vfc_vz_deadband             150
      vfc_min_thrust              0.000000
      vfc_max_thrust              0.800000
      vfc_tilt_max                0.436000
      vfc_yaw_rate_max            3.000000
      vfc_thrust_hover            0.500000
      vfc_vz_max                  1.000000
      vfc_kp_z                    5.290000
      vfc_kd_z                    5.980000
      vfc_vxy_max                 3.000000
      vfc_kp_xy                   0.640000
      vfc_kd_xy                   2.560000
      vfc_kp_z_vio                5.290000
      vfc_kd_z_vio                5.980000
      vfc_kp_xy_vio               3.240000
      vfc_kd_xy_vio               3.960000
      vfc_w_filt_xy_vio           10.000000
      vfc_w_filt_xy_flow          3.000000
      vfc_vel_ff_factor_vio       0.900000
      vfc_xy_acc_limit_vio        2.500000
      vfc_max_z_delta             3.000000
      vfc_att_transition_time     0.500000
      vfc_stick_move_threshold    30.000000
      vfc_flow_transition_time    1.000000
      vfc_q_min                   10
      vfc_points_min              7
      vfc_en_submode_announcement 1
      vfc_disable_fallback        0
      
      COLLISION PREVENTION (VOA)
      en_voa:                     1
      voa_upper_bound_m:          -0.150000
      voa_lower_bound_m:          0.150000
      voa_memory_s:               1.000000
      voa_max_pc_per_fusion:      100
      voa_pie_min_dist_m:         0.250000
      voa_pie_max_dist_m:         20.000000
      voa_pie_under_trim_m:       1.000000
      voa_pie_threshold:          3
      voa_pie_slices:             36
      voa_pie_bin_depth_m:        0.150000
      voa_send_rate_hz:           20.000000
      
      voa_input #0
          enabled:            1
          type:               point_cloud
          input_pipe:         dfs_point_cloud
          frame:              stereo_l
          max_depth:          8.000000
          min_depth:          0.300000
          cell_size:          0.080000
          threshold:          4
          x_fov_deg:          68.000000
          y_fov_deg:          56.000000
          conf_cutoff:        0
      voa_input #1
          enabled:            1
          type:               point_cloud
          input_pipe:         stereo_front_pc
          frame:              stereo_front_l
          max_depth:          8.000000
          min_depth:          0.300000
          cell_size:          0.080000
          threshold:          4
          x_fov_deg:          68.000000
          y_fov_deg:          56.000000
          conf_cutoff:        0
      voa_input #2
          enabled:            1
          type:               point_cloud
          input_pipe:         stereo_rear_pc
          frame:              stereo_rear_l
          max_depth:          8.000000
          min_depth:          0.300000
          cell_size:          0.080000
          threshold:          4
          x_fov_deg:          68.000000
          y_fov_deg:          56.000000
          conf_cutoff:        0
      voa_input #3
          enabled:            1
          type:               tof
          input_pipe:         tof
          frame:              tof
          max_depth:          6.000000
          min_depth:          0.150000
          cell_size:          0.080000
          threshold:          3
          x_fov_deg:          106.500000
          y_fov_deg:          85.099998
          conf_cutoff:        125
      voa_input #4
          enabled:            1
          type:               rangefinder
          input_pipe:         rangefinders
          frame:              body
          max_depth:          8.000000
          min_depth:          0.300000
          cell_size:          0.080000
          threshold:          4
          x_fov_deg:          68.000000
          y_fov_deg:          56.000000
          conf_cutoff:        0
      =================================================================
      loading extrinsics config file
      loading horizon cal file
      starting geometry module
      starting autopilot monitor
      starting mavlink IO
      Waiting to connect to voxl-mavlink-server
      Connected to voxl-mavlink-server
      starting fixed pose input
      starting vio manager
      Connected to VIO pipe: qvio
      Connected to VIO pipe: ov
      starting tag manager
      starting voa manager
      Connected to VOA input pipe: tof
      starting horizon cal module
      Connected to VOA input pipe: rangefinders
      starting imu manager
      starting state manager
      starting offboard figure eight
      Detected Autopilot Mavlink SYSID 1
      requesting autopilot_version
      Init complete
      Detected autopilot version: 1.14.0
      WARNING, _stop_helper_and_remove_pipe timed out joining read thread
      WARNING, _stop_helper_and_remove_pipe timed out joining read thread
      ERROR in pipe_client_get_info_json, channel 0 not initialized yet
      WARNING: failed to get info json from qvio server
      ERROR in pipe_client_get_info_json, channel 1 not initialized yet
      WARNING: failed to get info json from qvio server
      ^C
      
      
      posted in Starling & Starling 2
      Nicholas SheldonN
      Nicholas Sheldon