ModalAI Forum

riteshsharma

@Alex-Kushleyev Hi Alex, When I hold the drone in hand and move around the room, I see that VIO is at 100%. It only fails when I shake the drone or start flying it. I'm not sure what's going wrong.

riteshsharma

@riteshsharma Hi @admin @Moderator @Alex-Kushleyev Can you please help me in this regard? I am stuck at it and could not move further for almost a month now.

riteshsharma

@Alex-Kushleyev Did you have a chance to look at the logs and the video?

riteshsharma

@Alex-Kushleyev Hi Alex,

I uploaded the qvio overlay video and logs at the link https://drive.google.com/drive/folders/105QyDrfBvA52eWwrdS9NHI0q9LHTPbMA?usp=drive_link for you to review. Can you please have a look at it?

riteshsharma

@Alex-Kushleyev
Hi Alex, I was able to take picture and prepare video as you asked. Please find here Video & Images

riteshsharma

@Alex-Kushleyev

I tried your suggestion. It works until I move the drone quickly or shake it abruptly. The quality goes to -1 and feature which were being tracked are not longer following actual features.

Also, regarding camera transform, the starling drone( with silver motor) drone I have is in factory assembly. It would be great, if you could share the config file for camera transform.

riteshsharma

@Moderator @Alex-Kushleyev Hi Alex, I actually don't remember exact version.

I am sharing my flight logs(links: [https://drive.google.com/drive/folders/1v0FVU-SGO8WZukiOfFMfS7vYAGeJIq3E?usp=drive_link](link url)) and video of what happens when I try to fly in position mode. It just keeps climbing and had to press kill-switch. Just to let you know I am using starling drone in its factory setting (without any hardware damage) and re-flashed it with VOXL 2 SDK 1.2.0 using the option ./install.sh -w

My current configurations:

Screenshot from 2024-06-12 15-54-03.png

Screenshot from 2024-06-12 15-52-10.png

Screenshot from 2024-06-12 15-55-47.png

Also, when i run voxl-health-check, it fail the test. however I can see all my camera server working in Voxl-portal

voxl2:~$  voxl-health-check
SKU: MRB-D0005-4-V2-C6-T8
>> calOk: True

>> compute:
	> imageSensor0
		probe: CAM_START_DEV Success, sensor_id:0x3d,sensor_slave_addr:0x7a
		result: True
	> imageSensor1
		probe: error
		result: False
	> imageSensor2
		probe: CAM_START_DEV Success, sensor_id:0x7750,sensor_slave_addr:0xe2
		result: True

>> voxl-camera-server:
	> result: False
	> running: True
	> mpaOk: True
	> tof_conf: False
	> tof_pc: True
	> tof_depth: False
	> tof_ir: False
	> tracking: False
	> hires_large_color: False
	> hires_large_grey: False
	> hires_large_encoded: False
	> hires_small_color: False
	> hires_small_grey: False
	> hires_small_encoded: False
	> tof_confPipe: error
	> tof_pcPipe: /run/mpa/tof_pc/info
	> tof_depthPipe: error
	> tof_irPipe: error
	> trackingPipe: error
	> hires_large_colorPipe: error
	> hires_large_greyPipe: error
	> hires_large_encodedPipe: error
	> hires_small_colorPipe: error
	> hires_small_greyPipe: error
	> hires_small_encodedPipe: error

>> voxl-mavlink-server:
	> result: True
	> running: True

>> voxl-px4:
	> result: True
	> running: True
	> error: False
	> execStart: /usr/bin/voxl-px4
	> sensor_accel
		x: -0.10558
		y: -0.07159
		z: -9.90697
		result: True
	> sensor_gyro
		x: 0.01312
		y: 0.00221
		z: -0.02396
		result: True
	> sensor_baro
		temperature: 31.71471
		pressure: 97145.28125
		result: True
	> sensor_mag
		x: -0.26683
		y: -0.28708
		z: 0.62417
		result: True
	> battery_status
		voltage_filtered_v: 8.62994
		result: True
	> sensor_gps
		lon: 0.0
		lat: 0.0
		alt: -17000.0
		vel_m_s: 0.0
		satellites_used: 0
		device_id: 11272245
		result: True

>> voxl-imu-server:
	> result: True
	> running: True
	> mpaPipe: /run/mpa/imu_apps/info
	> device: ICM42688

>> voxl-qvio-server:
	> result: True
	> running: True
	> mpaPipe: /run/mpa/qvio/info

>> voxl-vision-hub:
	> result: True
	> running: True
	> mpaPipeVoaPcOut: /run/mpa/voa_pc_out/info
	> mpaPipeFixed: /run/mpa/vvhub_body_wrt_fixed/info
	> mpaPipeLocal: /run/mpa/vvhub_body_wrt_local/info
	> mpaPipeFixedPoseInput: /run/mpa/vvhub_fixed_pose_input

Health Check: Fail
voxl2:~$

riteshsharma

@restore How did you do full wipe? Can you please post the steps to do so?

riteshsharma

@Eric-Katzfey I troubleshooted using the instruction on the https://docs.modalai.com/flying-with-vio/#troubleshooting-vio. Still as soon as the drone takes off, the quality of qvio goes down to -1.

I also tried to reflash the drone with the system image VOXL 2 SDK 1.2.0 and enabled every thing to factory settings, still the drone starts drifting and qvio falls below -1. But qvio at the ground always shows 100% quality,

Do you have any other suggestion?

riteshsharma

@tom Thank you. I tried running voxl-configure-sku and voxl-configure-mpa and flew the drone. It just do not hold position and qvio goes to -1.

I then tried running voxl-configure-extrinsics starling_v2_voxl2 and flew the drone again. The result was the same. The drone is not holding its position.

voxl2:~$ voxl-version
--------------------------------------------------------------------------------
system-image: 1.7.6-M0054-14.1a-perf
kernel:       #1 SMP PREEMPT Wed Mar 20 19:48:52 UTC 2024 4.19.125
--------------------------------------------------------------------------------
hw platform:  M0054
mach.var:     1.0
--------------------------------------------------------------------------------
voxl-suite:   1.2.0
--------------------------------------------------------------------------------
Packages:
Repo:  http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-1.2/binary-arm64/
Last Updated: 2024-05-22 21:32:55
List:
kernel-module-voxl-fsync-mod-4.19.125     1.0-r0
kernel-module-voxl-gpio-mod-4.19.125      1.0-r0
kernel-module-voxl-platform-mod-4.19.125  1.0-r0
libfc-sensor                              1.0.5
libmodal-cv                               0.4.0
libmodal-exposure                         0.1.0
libmodal-journal                          0.2.2
libmodal-json                             0.4.3
libmodal-pipe                             2.10.0
libqrb5165-io                             0.4.5
libvoxl-cci-direct                        0.2.1
libvoxl-cutils                            0.1.1
modalai-slpi                              1.1.12
mv-voxl                                   0.1-r0
qrb5165-bind                              0.1-r0
qrb5165-dfs-server                        0.2.0
qrb5165-imu-server                        1.0.1
qrb5165-rangefinder-server                0.1.1
qrb5165-slpi-test-sig                     01-r0
qrb5165-system-tweaks                     0.2.6
qrb5165-tflite                            2.8.0-2
voxl-bind-spektrum                        0.1.1
voxl-camera-calibration                   0.5.4
voxl-camera-server                        1.9.1
voxl-ceres-solver                         2:1.14.0-10
voxl-configurator                         0.5.6
voxl-cpu-monitor                          0.4.8
voxl-docker-support                       1.3.1
voxl-elrs                                 0.1.3
voxl-esc                                  1.4.0
voxl-feature-tracker                      0.3.2
voxl-flow-server                          0.3.3
voxl-fsync-mod                            1.0-r0
voxl-gphoto2-server                       0.0.10
voxl-gpio-mod                             1.0-r0
voxl-jpeg-turbo                           2.1.3-5
voxl-lepton-server                        1.2.0
voxl-libgphoto2                           0.0.4
voxl-libuvc                               1.0.7
voxl-logger                               0.4.0
voxl-mavcam-manager                       0.5.3
voxl-mavlink                              0.1.1
voxl-mavlink-server                       1.4.0
voxl-microdds-agent                       2.4.1-0
voxl-modem                                1.0.9
voxl-mongoose                             7.7.0-1
voxl-mpa-to-ros                           0.3.7
voxl-mpa-to-ros2                          0.0.3
voxl-mpa-tools                            1.1.5
voxl-neopixel-manager                     0.0.3
voxl-open-vins                            0.4.4
voxl-open-vins-server                     0.2.18
voxl-opencv                               4.5.5-2
voxl-platform-mod                         1.0-r0
voxl-portal                               0.6.5
voxl-px4                                  1.14.0-2.0.68
voxl-px4-imu-server                       0.1.2
voxl-px4-params                           0.3.8
voxl-qvio-server                          1.0.2
voxl-remote-id                            0.0.9
voxl-ros2-foxy                            0.0.1
voxl-streamer                             0.7.4
voxl-suite                                1.2.0
voxl-tag-detector                         0.0.4
voxl-tflite-server                        0.3.2
voxl-utils                                1.3.9
voxl-uvc-server                           0.1.6
voxl-vision-hub                           1.7.4
voxl2-system-image                        1.7.6-r0
voxl2-wlan                                1.0-r0
--------------------------------------------------------------------------------
voxl2:~$ voxl-inspect-sku

family code:   MRB-D0005 (starling)
compute board: 4 (voxl2)
hw version:    2
cam config:    6
tx config:     8
SKU:           MRB-D0005-4-V2-C6-T8

voxl2:~$ voxl-configure-extrinsics starling_v2_voxl2
wiping old extrinsics config file
copying /usr/share/modalai/extrinsic_configs/starling_v2_voxl2.conf to /etc/modalai/extrinsics.conf
loading and updating file with voxl-inspect-extrinsics -q
done configuring extrinsics
voxl2:~$

riteshsharma

@tom Hi Tom, I re-flashed with the latest VOXL 2 SDK 1.2.0 via install.sh script. Now, to configure extrinsics what should I choose?

I dont see any option saying startling_v1_voxl2 or as such.

riteshsharma

Hi, I recently ran "apt update" and "apt upgrade" on my starling drone. Since then the drone is not holding position and keep climbing. I believe it is something to do with extrinsic configuration. Before, the option for extrinsic configuration used to show "voxl-configure-extrinsics factory_starling_v1" but now the option is gone. Can you please help me how to configure extrinsics given the information below:

riteshsharma

@Darshit-Desai I am having the same issue on both VOXL and VOXL2 after the upgrade. Let me know if you figure out.

riteshsharma

@tom In that case, how can I downgrade and go back to initial stage. Do you have any suggestion?

riteshsharma

Voxl-camera-server is failing after I upgraded the packages on starling drone.

voxl2:/$ voxl-version
--------------------------------------------------------------------------------
system-image: 1.7.4-M0054-14.1a-perf
kernel:       #1 SMP PREEMPT Fri Feb 9 21:59:24 UTC 2024 4.19.125
--------------------------------------------------------------------------------
hw platform:  M0054
mach.var:     1.0
--------------------------------------------------------------------------------
voxl-suite:   1.2.0-202404022201
--------------------------------------------------------------------------------
Packages:
Repo:  http://voxl-packages.modalai.com/ ./dists/qrb5165/dev/binary-arm64/
Last Updated: 2024-04-03 16:41:43
List:
kernel-module-voxl-fsync-mod-4.19.125     1.0-r0
kernel-module-voxl-gpio-mod-4.19.125      1.0-r0
kernel-module-voxl-platform-mod-4.19.125  1.0-r0
libmodal-cv                               0.5.5-202402131035
libmodal-exposure                         0.1.0-202310231718
libmodal-journal                          0.2.2-202211021731
libmodal-json                             0.4.3-202209281920
libmodal-pipe                             2.10.0-202311162306
libqrb5165-io                             0.4.4-202401141445
libvoxl-cci-direct                        0.2.1-202309211746
libvoxl-cutils                            0.1.1-202210072352
modalai-slpi                              1.1.12-202312191452
mv-voxl                                   0.1-r0
qrb5165-bind                              0.1-r0
qrb5165-dfs-server                        0.2.0-202309221318
qrb5165-imu-server                        1.0.1-202312010251
qrb5165-rangefinder-server                0.1.1-202312111703
qrb5165-slpi-test-sig                     01-r0
qrb5165-system-tweaks                     0.2.6-202402151128
qrb5165-tflite                            2.8.0-2-202210071637
voxl-bind-spektrum                        0.1.1-202403271220
voxl-camera-calibration                   0.5.4-202401081655
voxl-camera-server                        1.9.0-202403211533
voxl-capture                              0.0.1-202206110121
voxl-ceres-solver                         2:1.14.0-10-202310130020
voxl-configurator                         0.5.3-202403121650
voxl-cpu-monitor                          0.4.8-202402061134
voxl-docker-support                       1.3.0-202309201525
voxl-elrs                                 0.2.1-202403141429
voxl-esc                                  1.4.0-202403251514
voxl-feature-tracker                      0.3.8-202403261346
voxl-flow-server                          0.3.6-202403180603
voxl-fsync-mod                            1.0-r0
voxl-gphoto2-server                       0.0.10-202210072352
voxl-gpio-mod                             1.0-r0
voxl-jpeg-turbo                           2.1.3-5-202311071550
voxl-lepton-server                        1.2.1-202403180611
voxl-lepton-tracker                       0.0.1-202402261317
voxl-libgphoto2                           0.0.4-202204111958
voxl-libuvc                               1.0.7-202210072357
voxl-logger                               0.3.12-202403261022
voxl-mapper                               0.2.1-202403201826
voxl-mavcam-manager                       0.5.4-202401290941
voxl-mavlink                              0.1.1-202305011701
voxl-mavlink-server                       1.4.0-202403191520
voxl-microdds-agent                       2.4.1-0-202311211206
voxl-modem                                1.0.9-202403121543
voxl-mongoose                             7.7.0-1-202210072105
voxl-mpa-to-ros                           0.3.7-202310131817
voxl-mpa-to-ros2                          0.0.2-202402291159
voxl-mpa-tools                            1.1.5-202403201735
voxl-neopixel-manager                     0.0.3-202312061522
voxl-nlopt                                2.5.0-4-202210072358
voxl-open-vins                            0.4.10-202403281925
voxl-open-vins-server                     0.2.46-202403281925
voxl-opencv                               4.5.5-2-202311071601
voxl-platform-mod                         1.0-r0
voxl-portal                               0.6.5-202403201802
voxl-px4                                  1.14.0-2.0.69-202402061301
voxl-px4-imu-server                       0.1.2-202205131833
voxl-px4-params                           0.3.6-202403111442
voxl-qvio-server                          1.0.2-202403151128
voxl-remote-id                            0.0.9-202309191605
voxl-ros2-foxy                            0.0.1-202310061042
voxl-rtp                                  0.0.1-202206101543
voxl-stitcher                             0.0.2-202206161634
voxl-streamer                             0.7.4-202309221610
voxl-suite                                1.2.0-202404022201
voxl-tag-detector                         0.0.4-202206302112
voxl-tflite-server                        0.3.2-202401161222
voxl-utils                                1.3.8-202402131713
voxl-uvc-server                           0.1.6-202311050848
voxl-vision-hub                           1.7.4-202401161503
voxl-voxblox                              1.1.5-202310122350
voxl-wifi-broadcast                       0.0.10-202206122258
voxl2-io                                  0.0.1-202401181810
voxl2-system-image                        1.7.4-r0
voxl2-wlan                                1.0-r0
--------------------------------------------------------------------------------```

voxl2:/$ voxl-inspect-services
Scanning services...

Service Name | Enabled | Running | CPU Usage

voxl2:/$ voxl-camera-server
voxl-camera-server: symbol lookup error: voxl-camera-server: undefined symbol: _ZTIN6royale3pal13II2cBusAccessE

riteshsharma

Update on following up on this topic. I was able to use other camera including Logitech Brio as suggested on ModalAI webpage. It only support YUV format not MJPEG streaming. With YUV format on Logitech Brio, I was only able to get 1920x1080 at 5 fps. But could not get MJPEG working.

riteshsharma

@Moderator

I am wondering if anyone have ever used Logitech Brio USB camera as a device in voxl-uvc-server running on voxl-deck. If yes, what is the highest resolution you have obtained at 30 fps ?

I am trying to use a very high resolution camera 4k or more with high fps for live inspection. Will voxl allow to configure such camera with uvc-server?

riteshsharma

@Alex-Kushleyev
Thank you @Alex-Kushleyev . Finally I was able to modify the code to make it work for 2 USB cameras.

ModalAI Forum

riteshsharma

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Service Name | Enabled | Running | CPU Usage