Best posts made by Sem Andeweg
Latest posts made by Sem Andeweg
RE: EV data causing the drone to crash when in stabilize mode
@Steve-Turner - Yeah I have put EKF2_AID_MASK to 0. Then the drone would just be behaving normally.
@Cliff-Wong - I understand that I would have to disable qvio-server, if I would only fly in non-evdata modus. But when flying with evdata, if then the evdata goes bad, I need to switch to non-evdata to be able to save the drone from crashing. But now the drone will still crash!
EV data causing the drone to crash when in stabilize mode
I am flying PX4 v1.11 and v1.13 on the ModalAI Flight core with their VOXL companion computer that gives VIO data - and we experience a bug in PX4 that results in crashes. It's something that should not happen, and normally does not happen but when it does we need to emergency land or if possible switch to acro mode and then safely make an emergency landing.
So what happens: In stabilize mode when flying the drone, after flying for some time without any troubles, the drone suddenly pitches or rolls in one direction to its maximum angle. Even counter-steering the drone in the other direction only works to some degree, it will still go in that direction. When changing to acro, we can still safely control and land the drone.
Here we have a Log of one instance. You can see the drone is only in stabilize mode, and at the end of the flight, the pilot is at full pitch and rolls to make a safe emergency landing. I have a video of this, and this just happens when hovering, the drone is not at any cruising speed or something. The drone is just scanning something an object from top to bottom.
The way we solve this problem is when we fly in stabilize mode we change the EKF2_AID_MASK from 280 to 0.
So what we think happens is that the VIO data becomes bad (due to low features or whatever), and think the drone is going in the wrong direction. So the drone wants to counteract this and rolls and pitches in the opposite direction the VIO thinks it's going to. This is something that would happen in position-hold mode. But here comes the bug, this also happens in modes that “don't” use the VIO data. We see this happening in modes like stabilize, altitude hold mode, and position failsafe.
How is this possible? And can we switch this off? Or is this a bug that needs to be fixed?
Landing gear disturb tracking camera
When we fly in more difficult environment for the VIO, the VIO system tends to track the drone itself, it will track the prop guards/ landing gear. An example of what the tracking camera can see of its own drone, you can see here:
In our setup we have tilted the tracking camera 15 degrees more downwards so it sees less of the drone. But it is impossible to place the camera in an position where the tracking camera does not see anything of the drone. In the current and possibly the best placement of the camera, the image looks like this:
In the top corners it can still see some parts of the drone, the props guards. Now when the tracking camera tracks the prop guards, the drone will loose its positioning and crashes. Is it possible to modify the VIO code or just by parameters, so that it cannot and will never track any features/ points in that area where the prop guard is?
RE: Overriding in-use UART ports
In our setup we are two UART short.
We would like to use 2 UART ports for:
- TELEM3 (DJI FPV)
- Dshot telemetry
The UART ports that we don't use are:
- J2 Debug
- J4 UART ESC
How could we use these existing UART ports the way we would like to?
USB camera UVC service something is missing
We are trying to connect a arducam to the VOXL and stream that via Ethernet to QGC.
We are trying to that the same way as in this video: https://www.youtube.com/watch?v=iStAaxOtMLw
But then only with one camera, so we thought it would be simple.
But when trying those commands like:
-> voxl-uvc-server -v 0c45 -t (custom pipe)
-> voxl-uvc-server -s
It does not work, because we apparently use an older version.
But we have updated it to: 0.1.2. Did the pkg-manager dev etc. etc. and still it is giving us not more commands. (see image)
So a couple of questions:
- Is this the right route to go to enable a stream for only one UVC USB camera?
- And how can we get these commands?
RE: How to get the VOXL-Logger files to my computer?
@tom thank you! I can now see it, from now I will do:
voxl-logger --preset_odometry -d /mnt/sdcard
@Chad-Sweet thank you, its now downloading the logs, it works perfectly. But I think the logs are very large, so its a little slow.
How to get the VOXL-Logger files to my computer?
I am debugging the VIO. With voxl-logger --preset_odometry.
I see that the files are being saved in /data/voxl-logger/, but I want to download the files to my computer to analyze them in plotjuggler.
- How can I move the log files to my SD card in the VOXL via terminal (I have no idea, and all the linux commands I also do not know)?
- How can I get the logger to save the logs directly to the SD card? I know I can do voxl-logger and then -d, but I also dont know the directory of the SD card.
Tilting the VOXL CAM forward
The full VOXL CAM will be angled 15 degrees forward, so this means the VOXL as well as the global shutter camera will be tilted forward. The flight core is already fixed. But we now need to change extrinsics file. /etc/modalai/extrinsics.conf
I have read the whole https://docs.modalai.com/configure-extrinsics/ and seen the video. But cannot really confirm if I'm doing a good job. Could someone please help me with this? I dont know what ''RPY_parent_to_child" I need to change. And if you know to what XYZ value, please do .