At Cleo we've been using the https://gitlab.com/voxl-public/voxl-sdk/third-party/voxl-microdds-agent to send odometry data to PX4 UORB land. We've been seeing random cutouts of the writer where the odometry data stops being sent through (the /fmu/in/odom topic is active, but the UORB topic is not receiving), and restarting the voxl-microdds-agent fixes the issue. Do you have any ideas on what might be causing this? We haven't seen any failure logs and we have no reproduction steps.
Latest posts made by Rowan Dempster
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Micro DDS Failure
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RE: Switching between Mag+GPS and VIO indoors
Hi @Cliff-Wong thank you for the response!
In the version of PX4 that Modal is using (commit: https://github.com/modalai/px4-firmware/blob/b5c45bb232afc6a936b8349f4fa0be1efeb17707/src/modules/ekf2/ekf2_params.c) I see MAG_CHECK as:
/** * Magnetic field strength test selection * * When set, the EKF checks the strength of the magnetic field * to decide whether the magnetometer data is valid. * If GPS data is received, the magnetic field is compared to a World * Magnetic Model (WMM), otherwise an average value is used. * This check is useful to reject occasional hard iron disturbance. * * @group EKF2 * @boolean */ PARAM_DEFINE_INT32(EKF2_MAG_CHECK, 1);
Do you suggest updating the EKF2 code to the more recent version that supports more advanced mag health checks:
EKF2_MAG_CHECK: description: short: Magnetic field strength test selection long: 'Bitmask to set which check is used to decide whether the magnetometer data is valid. If GNSS data is received, the magnetic field is compared to a World Magnetic Model (WMM), otherwise an average value is used. This check is useful to reject occasional hard iron disturbance. Set bits to 1 to enable checks. Checks enabled by the following bit positions 0 : Magnetic field strength. Set tolerance using EKF2_MAG_CHK_STR 1 : Magnetic field inclination. Set tolerance using EKF2_MAG_CHK_INC 2 : Wait for GNSS to find the theoretical strength and inclination using the WMM' type: bitmask bit: 0: Strength (EKF2_MAG_CHK_STR) 1: Inclination (EKF2_MAG_CHK_INC) 2: Wait for WMM default: 1 min: 0 max: 7 EKF2_MAG_CHK_STR: description: short: Magnetic field strength check tolerance long: Maximum allowed deviation from the expected magnetic field strength to pass the check. type: float default: 0.2 min: 0.0 max: 1.0 unit: gauss decimal: 2 EKF2_MAG_CHK_INC: description: short: Magnetic field inclination check tolerance long: Maximum allowed deviation from the expected magnetic field inclination to pass the check. type: float default: 20.0 min: 0.0 max: 90.0 unit: deg decimal: 1
What we are worried about is the mag being used when the measurements are unhealthy.
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Switching between Mag+GPS and VIO indoors
Hi Modal,
Cleo is looking into using Magnetometer+GPS combo for outdoor heading and positioning. We're wondering how Modal handles the switch between indoor and outdoor flight, specifically how does the EKF2 know when to stop fusing the magnetometer (definitely don't want to try to keep heading via mag inside)?
Thanks!
Rowan -
RE: PX4 Replay
@Eric-Katzfey What about running PX4 in SITL so Ulogs can be replayed offline on one's own laptop for things like EKF2 tuning? Is that part of your workflow?
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PX4 Replay
Has Modal tested PX4 replay functionality (https://docs.px4.io/main/en/debug/system_wide_replay.html) on the VOXL2?
I am running into issues loading the
orb_publisher.rules
file. When I specify more that ~25 characters of dynamic memory (for therestrict_topics
and/ormodule
fields) something else in PX4 segfaults. Seems like I'm hitting the upper limit of memory allocation for PX4 modules, very strange. -
voxl-microdds-agent not installed on SDK1.2?
Hi I'm seeing that voxl-microdds-agent (and foxy, etc...) are blacklisted on SDK1.2? I thought these packages were released
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RE: Digital zoom on hi-res camera
@thomas I assume we don't want to be dealing with 4k raw arrays on the CPU for performance reasons. So yeah as early as possible in the image proc pipeline, and how early we can push it is what I'm asking for advice on. We'll also reach out to @Alex-Kushleyev thanks!!
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Image stabilization features in SDK
Hi,
Wondering if Modal has or is working on any image stabilization software to be released in its SDK?
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RE: Digital zoom on hi-res camera
@thomas Hey Thomas can you recommend an implementation approach that would not copy the 4k data? James also mentioned that someone in Philly was working on a Android C2D approach that would be integrated into voxl-camera-server eventually.