ModalAI Forum

@Nitin-Varma-Vegesna Is there any release that is known to work for April Tag Detection?

@Zachary-Lowell-0 Was there any fix to this.

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system-image: 1.8.02-M0054-14.1a-perf
kernel: #1 SMP PREEMPT Mon Nov 11 22:47:44 UTC 2024 4.19.125
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hw platform: M0054
mach.var: 1.0.1
SKU: MRB-D0014-4-V1-C27-T9-M22-X0
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voxl-suite: 1.4.5
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Packages:

I am getting this issue where I constantly get WARNING, apriltag roll/pitch out of bounds issue with the front or down tracking camera.

@Eric-Katzfey
────────────────────────────────────────────────────────────────────────────────
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
SKU: MRB-D0014-4-V1-C27-T9-M22-X0
────────────────────────────────────────────────────────────────────────────────
voxl-suite: 1.4.5
────────────────────────────────────────────────────────────────────────────────
Packages:

I am getting this issue as well, where I constantly get WARNING, apriltag roll/pitch out of bounds issue with the front or down tracking camera.

@zauberflote1 I am no longer having this issue. I have been flying with OpenVins for some time, and I was sometimes seeing drift in the vio estimate, and I was wondering what are the best configs to use. for vio_cams.conf and voxl-open-vins-server.conf?

@zauberflote1 In addition, I can't get above 20 FPS for ov_overlay (19 FPS with 2 cameras), which seems pretty bad when QVIO is 30 FPS. Is there a limit on the publish_frequency I could use, although it's not even reaching the publish_frequency.

@Eric-Katzfey That is what I did to reset the params prior to this happening.

@Eric-Katzfey I would rather not delete everything outside of /data/, is there a way to reset the params of px4 another way? This issue only happens when I start exploration, and I move the drone up with my hand slightly, but why do I get FCU: Vision Failure.

@zauberflote1 this was during hand testing, and I am using 3 cameras now actually.

Also, when following documentation, I followed this instruction: edit /data/modalai/sku.txt and add a -E1 suffix to the string. save the file, e.g. MRB-D0005-4-V3-C12-E1

But, I couldn't see /mavros/local_position/odom for some reason after, so I reverted. I don't know if it was an issue with power cycle (pretty sure I did), but that's another difference.

@zauberflote1 said in OpenVINS issue:

Hello, please provide your platform specs and sdk version.

Things I changed: "track_frequency": 30,
"publish_frequency": 20,

using 2 cameras (not tracking_rear) in voxl_cams.conf

Is resolution (1280x800) an issue?

One thing I see is that sometimes, this [ INFO] [1770537820.961194398]: FCU: Vision Data Too Old error comes repeatedly and then z drifts, maybe due to the processing power of the cpu or something else? Please let me know if you know anything regarding this.

Hello, I enabled openvins using the documentation here https://docs.modalai.com/voxl-open-vins-server, except the sku.txt change.

for some reason, I see in the hand testing, the z drift often, and also I continuously see [ INFO] [1770537820.961194398]: FCU: Vision Data Too Old.

How do I fix these issues?

Thanks.

@lhermosillo It was 15 with/without the GPS.

Hello,

In /etc/modalai/voxl-px4.conf set GPS to NONE. Then set the PX4 parameters SYS_HAS_GPS, and SYS_HAS_MAG to 0. Set EKF2_MAG_TYPE to None. Set EKF2_GPS_CTRL to 0. This is when my GPS was broken.

I was getting Preflight Fail: heading estimate not stable and Preflight Fail: Yaw estimate error

How could I fix the error? Is there any calibration or anything else that needs to be done? I was looking at QGC and yaw seemed to move smoothly when i yawed so I don't know what the issue is. /mavros/local_position/odom seems to be properly providing the drone's pose as well, at least the position and yaw.

@Eric-Katzfey

Here is an image of when I start autonomous exploration (not flying yet) but moving it with hand, I am getting these preflight errors that I used to not get.

This is with SYS_HAS_GPS, and SYS_HAS_MAG to 1, EKF2_MAG_TYPE = Automatic, EKF2_GPS_CTRL = 7

Also, voxl-inspect-gps is saying NO GPS for fix type:

dt(ms) |fix type|Sats|Latitude(deg)|Longitude(deg)| Alt(m) |Vel(m/s)|HorErr(m)|AltErr(m)|
129.5 | NO GPS | 0 | 0.0000000 | 0.0000000 | -17.0 | 0.00 | 4294967.295 | 4092465.408 |^C

@Eric-Katzfey What about autonomous control indoors, and how could that be fixed if it's an issue? This is with a new GPS as well. Do I have to configure anything? Also, for the EKF2_GPS_CTRL, I reset to default: 7

@Nitin-Varma-Vegesna said in Repair:

My Starling 2 drone crashed, and a good amount of damage was done. The PCB board was cracked, and the GPS mount was broken, and I was wondering whether I should submit a Repair Merchandise Authorization, and generally how long does the entire process take from submit an RMA to receiving the drone back?

I submitted an RMA form, but I would still like to know how long the entire process takes generally please?