ModalAI Forum

Another snag... Seems like the voxl-vision-px4 is spotty at starting. I am trying to fly again and no luck. I ran the status command and the same failure as before.

I just did another test randomly while eating my lunch and it worked as expected. So I did a maiden and checked stabilize, althold, and position mode and all modes flew well. We have lots of snow here so cant test too much more outdoors.

I've been testing on a Macbook Pro. I can get QGC via the USB port, just not via Wifi. And the motors dont spin above minimum armed PWM.

No luck on different computer. I just tried the ESC cal as well and no luck.

Looks like that worked.

~ # systemctl stop voxl-vision-px4
~ # voxl-configure-vision-px4 -f
loading and updating config file with voxl-vision-px4 -c
Error parsing config file before:
/usr/bin/voxl-configure-vision-px4: line 120: 3072 Segmentation fault voxl-vision-px4 -c
^ don't worry about the segfault ^

attempting to use camera configuration 3
adding override_cam_id value=1 to /etc/snav/camera.downward.xml
adding override_cam_id value=2 to /etc/snav/camera.stereo.xml
reloading systemd services
disabling all the snav services
starting imu_app
Created symlink from /etc/systemd/system/multi-user.target.wants/imu_app.service to /etc/systemd/system/imu_app.service.
WARNING: Missing stereo calibration file. Follow instructions here to
calibrate if you wish to use stereo visual obstacle avoidance.
https://docs.modalai.com/docs/quickstarts/calibrate-cameras/

DONE configuring ModalAI Vision Lib
enabling voxl-vision-px4 systemd service
Created symlink from /etc/systemd/system/multi-user.target.wants/voxl-vision-px4.service to /etc/systemd/system/voxl-vision-px4.service.
starting voxl-vision-px4 systemd service
DONE configuring voxl-vision-px4
~ # cat /etc/modalai/voxl-vision-px4.conf
{
"qgc_ip": "192.168.8.60",
"en_localhost_mavlink_udp": true,
"en_secondary_qgc": false,
"secondary_qgc_ip": "192.168.1.214",
"offboard_mode": "figure_eight",
"en_vio": true,
"en_voa": false,
"en_send_vio_to_qgc": false,
"en_send_voa_to_qgc": false,
"en_adsb": false,
"adsb_uart_bus": 7,
"adsb_uart_baudrate": 57600,
"px4_uart_bus": 5,
"px4_uart_baudrate": 921600,
"R_imu_to_body": [[0, 1, 0], [1, 0, 0], [0, 0, -1]],
"T_imu_wrt_body": [0.068, -0.015, -0.008],
"height_body_above_ground_m": 0.05,
"T_stereo_wrt_body": [0.10, -0.04, 0.0],
"land_on_tag_id": 0,
"follow_tag_id": 0,
"en_apriltag_fixed_frame": false,
"fixed_apriltags": [{
"tag_id": 0,
"R_tag_to_fixed": [[0, -1, 0], [1, 0, 0], [0, 0, 1]],
"T_tag_wrt_fixed": [0, 0, 0]
}],
"en_transform_mavlink_pos_setpoints_from_fixed_frame": true,
"en_fixed_frame_pipe": false,
"fixed_frame_filter_len": 5
}
~ #

I edited the QGC IP to my laptop's IP and QGC still doesnt see it. I will try from a different computer.

I run into the same issue when I check the voxl vision status. Active: Failed. There is nothing on the voxl-vision-px4.conf file. It's not properly configuring that file.

@modaltb I may have modified it, not even sure. I'm still learning the hardcore software side of this. I'm a hardware guy.

Now it says only "error parsing config file before: ?
Segmentation fault"

This is what I typed and what I get.

~ # systemctl stop voxl-vision-px4
~ # voxl-vision-px4 -d
loading config file
Error parsing config file before: en_vao": false,
"en_send_vio_to_qgc": false,
"en_send_voa_to_qgc": false,
"en_mvl_video_stream": false,
"en_adsb" false,
"adsb_uart_bus": 7,
"adsb_uart_baudrate": 57600,
"en_offboard_figure_eight": true,
"vio_to_ned_rotation_matrix": [[0, 1, 0], [1, 0, 0], [0, 0, -1]]

Segmentation fault
~ #

This is what I see. I also cannot get to QGC through VOXL.

~ # systemctl status voxl-vision-px4
● voxl-vision-px4.service - voxl-vision-px4
Loaded: loaded (/usr/bin/voxl-vision-px4; disabled; vendor preset: enabled)
Active: failed (Result: signal) since Thu 1970-01-01 00:44:44 UTC; 5min ago
Process: 3084 ExecStart=/usr/bin/voxl-vision-px4 (code=killed, signal=SEGV)
Main PID: 3084 (code=killed, signal=SEGV)

Jan 01 00:44:44 apq8096 voxl-vision-px4[3084]: "en_send_voa_to_qgc": false,
Jan 01 00:44:44 apq8096 voxl-vision-px4[3084]: "en_mvl_video_stream": false,
Jan 01 00:44:44 apq8096 voxl-vision-px4[3084]: "en_adsb" false,
Jan 01 00:44:44 apq8096 voxl-vision-px4[3084]: "adsb_uart_bus": 7,
Jan 01 00:44:44 apq8096 voxl-vision-px4[3084]: "adsb_uart_baudrate": 57600,
Jan 01 00:44:44 apq8096 voxl-vision-px4[3084]: "en_offboard_figure_eight": true,
Jan 01 00:44:44 apq8096 voxl-vision-px4[3084]: "vio_to_ned_rotation_matrix":...]
Jan 01 00:44:44 apq8096 systemd[1]: voxl-vision-px4.service: Main process e...GV
Jan 01 00:44:44 apq8096 systemd[1]: voxl-vision-px4.service: Unit entered f...e.
Jan 01 00:44:44 apq8096 systemd[1]: voxl-vision-px4.service: Failed with re...'.
Hint: Some lines were ellipsized, use -l to show in full.
~ #

@modaltb No magnetometer. I installed the No mag params file, as well as a few others, but I'd like to get your instructions. Mavlink inspector shows it not going above 1075.

In the end goal, When I arm the copter, the motors stay at the ESC armed throttle level, despite seeing throttle input from the RC. Once I get this resolved, should it work, or are they unrelated?

I just reverted back to the ModalAI version of V1.10 and still having the same issues. It must be somehow related to my system.

@modaltb I have V1.11.3 loaded onto the Flight deck board.

I just had a BEC failure, so I cant access the FC,. Will swap and let you know. I believe I updated to 1.11 via QGC.

After following the wiki for ESC calibration, once I type Y for all of the prompts and it should run, I get an immediate error. I'm able to connect via QGC. QGC is closed out and it is able to access the port. Errors are
line 269 in <module>
mavcall()
line 246 in mavcal
if not mavshell.connect()
line 74, in connect
ret = selv.mav.wait_heartbeat(blocking=true, timeout=10)
TypeError: wait_heartbeat() got an unexpected keyword argument 'timeout'

Any ideas? From what I think I'm seeing is that there was a timeout in the connection maybe?