@ James-Strawson
Im sorry but is note the case….
While just activation voxl vision px4 service from fredh resceived voxl cam, voxl output local frame pos and velocitys via mavlink.

so how to activate local to body frame velocity transformation?

Maybe with px4 this work but with ardupilot i check on mavlink analys and i make simple translations and i can ensure you that voxl send out local frame pos and vels.

Maybe you can tell me ou to force voxl to output local frame pos but body frame vels to ardupilot ?

Thank you so much.

Voxl communicates perfectly with ardupilot but there is big mistake.

Ardupilot expect earth frame pos and drone frame vels when voxl send out earth frame pos and vels.

So there is parameter to easily change the frame for vels send out by voxl vision px4 service ?

Or

Must you upgrade the voxl firmware to match ardupilot? There is many customers that will be happy when voxl be useable with ardupilot

@sergio said in ARDUPILOT VOXL CAM ORIENTATION ISSUE ?:

@Alex-Gardner so you confirm that as i just changed the tracking cam position (see upper post):

• as intrinsic not mention body relation with tracking cam , I dont need to change any other intrinsic than imu1 and imu2 relation to tracking cam, and thats what i do ?

• you confirm that body intrinsic position on the voxl cam is the center of the voxl cam?
  If not can you show where is the virtual position of body related to voxlcam?

Also what is ground position in intrinsics?

@Alex-Gardner so you confirm that as i just changed the tracking cam position (see upper post):

• as intrinsic not mention body relation with tracking cam , I dont need to change any other intrinsic than imu1 and imu2 relation to tracking cam, and thats what i do ?

• you confirm that body intrinsic position on the voxl cam is the center of the voxl cam?

@serge said in ARDUPILOT VOXL CAM ORIENTATION ISSUE ?:

@Chad-Sweet Hello,

Ok for test the upside down, can you share here the extrinsics to put it upside down?

As you can show on the photos on posts above, I set the extrinsics file to this values below to match the tracking camera positionning, and I achieve better positionning and qvio quality.

Please check my extrinsics below:
{
"name": "seeker_v1_voxlcam",
"extrinsics": [{
"parent": "imu0",
"child": "tracking",
"T_child_wrt_parent": [0.041, 0.014, 0.01],
"RPY_parent_to_child": [0, 0, 0]
}, {
"parent": "imu1",
"child": "tracking",
"T_child_wrt_parent": [-0.0074, 0.021, 0.01],
"RPY_parent_to_child": [0, 0, 0]
}, {
"parent": "body",
"child": "imu0",
"T_child_wrt_parent": [0.0496, -0.0152, 0.0161],
"RPY_parent_to_child": [0, 90, 90]
}, {
"parent": "body",
"child": "imu1",
"T_child_wrt_parent": [0.0465, 0.0332, -0.013],
"RPY_parent_to_child": [0, 90, 90]
}, {
"parent": "body",
"child": "stereo_l",
"T_child_wrt_parent": [0.055, -0.04, 0],
"RPY_parent_to_child": [0, 90, 90]
}, {
"parent": "body",
"child": "ground",
"T_child_wrt_parent": [0, 0, 0.045],
"RPY_parent_to_child": [0, 0, 0]
}, {
"parent": "imu1",
"child": "imu0",
"T_child_wrt_parent": [-0.0484, 0.037, 0.002],
"RPY_parent_to_child": [0, 0, 0]
}, {
"parent": "body",
"child": "tof",
"T_child_wrt_parent": [0.055, 0, 0],
"RPY_parent_to_child": [0, 90, -90]
}]
}

But the issue, is that I always get bad positionning.

please check the ardurover log via the link below:
https://1drv.ms/u/s!AssmjyIs_YcBqz7NvkZmM4Gv7LZt?e=mBVFhS

You can see that we achieve to make U chape trajectory, but at some point, qvio loses the yaw.......

Please check the log.

Please also tell me how to make qvio logs with voxlcam for you post analys what going on.

Also, please tel me what qvio quality number must be achieved when going forward and making turns?

here you have the best logs we achieved.
at the end qvio lose yaw....

I really would like to try the upside down voxlcam with tracking camera mounted as factory deliver it.

Please let me know how to achieve this, I think that extrinsics file is not the only conf file to tune for it, and all the items must be reversed?

It would be gracefull from your part to provide consistant support for it by giving the extrisincs and sharing it at all your customers here.

Kind regards.

Dear Chad, Please, can you tell me if tracking camera is factory calibrated? Do you advice to calibrate it to enhance the results?