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    shawn_ricardo

    @shawn_ricardo

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    Latest posts made by shawn_ricardo

    • RE: Sensor Fusion Question w/ GPS, VIO, and downward distance sensor on Starling 2

      @Meytal-Lempel

      You still need vision input, so undo

      EKF2_EV_CTRL 15-->13 (remove external vision sensor aiding from vertical position calc)

      to ensure vision is aiding 3D position, yaw, and velocity. Then select range sensor as primary height input (EKF2_HGT_REF).

      for your purpose, you only want vision + range_finder as input sources into EKF (obv. you want to keep IMU data; no baro, no GPS). So ensure EKF parameters are turned on for only vision + range.

      Prior to flight, ensure the local_position supplied to PX4 from voxl qvio exists, that the position data makes sense (upon power on, should be 0s for xyzrpy on level ground), and that picking up the drone and moving around physically known distances (use a measuring tape or something) results in a corresponding update to /fmu/out/vehicle_local_position (I think that's the correct ROS2 topic) or instead of /fmu/out/vehicle_local_position, you can mavlink inspect local position

      For the Starling 2, since default params were vision only, my intent would be to turn on the range sensor and then update EKF2_HGT_REF to range. So maybe reset your parameters back to default Starling 2 params and make those adjustments?

      posted in GPS-denied Navigation (VIO)
      S
      shawn_ricardo
    • RE: Sensor Fusion Question w/ GPS, VIO, and downward distance sensor on Starling 2

      @Meytal-Lempel

      I haven't gotten around to this yet

      From what I recall, I think the range sensor is disabled. So, try to enable that sensor itself and verify via mavlink inspector that the range data is being received as expected.

      Then, once the range data exists, configure the EKF parameters to take as one of the sensor input sources the range values (what you've done above seems correct / along the correct direction).

      I think it would be okay to enable vision as an input sensor source, as well. But maybe not GPS + Vision, from what @Eric-Katzfey had mentioned.

      Or, you can allow for GPS input into EKF but make your GPS specific EKF parameters reject the GPS sensor input source outside of non-nominal conditions. By tuning the GPS EKF parameters to allow for only conditions that mimic strong GPS lock outside and reject GPS characteristics seen when inside (e.g., low GPS count).

      posted in GPS-denied Navigation (VIO)
      S
      shawn_ricardo
    • RE: Starling 2 Max with Ublox F9P Ultralight

      Just wanted to share: Using this approach, I was able to integrate CubePilot Here4

      posted in Starling & Starling 2
      S
      shawn_ricardo
    • RE: Sensor Fusion Question w/ GPS, VIO, and downward distance sensor on Starling 2

      @Eric-Katzfey

      Understood, will test parameter sets

      Thank you!

      posted in GPS-denied Navigation (VIO)
      S
      shawn_ricardo
    • RE: Sensor Fusion Question w/ GPS, VIO, and downward distance sensor on Starling 2

      Hi @Eric-Katzfey @Alex-Kushleyev , would y'all be able to answer the questions above?

      Just to recap, I ordered the Starling 2 and the default PX4 parameters shown via QGC have pretty much everything but vision sensor input turned off. As far as I know, the Starling 2 comes with a GPS (no mag) and downward facing distance sensor. Both could be used as sensor input sources into PX4s EKF. So, I'm curious if y'all use those sensors as input into your VIO implementation as a sort of upstream sensor fusion. In which case I can leave those PX4 parameters as is

      posted in GPS-denied Navigation (VIO)
      S
      shawn_ricardo
    • Sensor Fusion Question w/ GPS, VIO, and downward distance sensor on Starling 2

      Re: Running VIO with GPS active

      Hi @Cliff-Wong ,

      Following up on your reply in the post "Running VIO w/ GPS Active". I am flying a Starling 2 and have been unable to conclude how Modal handles various sensor input streams to PX4.

      I see that the Starling 2 has a downward distance sensor, VIO, and GPS (in addition to IMU). This is where the confusion begins because I also see that default Starling PX4 parameters only have Vision enabled for heading, velocity, and position via EKF, that GPS is disabled & set to not exist, and that downward lidar sensor input is disabled.

      Does the VOXL perform some sort of sensor fusion on these input sources, then send the output of fusion to PX4 through the vision topic such that vision encompasses GPS, downward distance sensor, and VIO? Or is it the case that the sensor streams other than VIO are actually ignored by PX4 and/or not sent by default (in which case I can simply enable the sensor input and update EKF parameters).

      Could you provide more clarity and maybe any recommendation on how I could leverage the sensors in PX4?

      posted in GPS-denied Navigation (VIO)
      S
      shawn_ricardo
    • RE: Integration of Hadron 640R w/ VOXL2 Flight Deck on Sentinel

      @Eric-Katzfey

      Would you be able to point me in the right direction? Maybe a list of technical docs or something of the sort?

      Thanks!

      posted in Ask your questions right here!
      S
      shawn_ricardo
    • RE: Integration of Hadron 640R w/ VOXL2 Flight Deck on Sentinel

      Actually, can y'all provide the easiest path forward that supports just the tracking camera + hi-res front facing camera + FLIR Hadron?

      That setup would be ideal

      posted in Ask your questions right here!
      S
      shawn_ricardo
    • Integration of Hadron 640R w/ VOXL2 Flight Deck on Sentinel

      Hello,

      On a separate VOXL2, I've got the FLIR Hadron 640R up and running using the hardware/instructions found in https://docs.modalai.com/voxl2-hadron/#flir-hadron-640r-support-on-voxl2-and-voxl2-mini

      I want to integrate this camera on the Modal AI Sentinel platform, but see that J7 is occupied by what appears to be the tracking camera and possibly a hi-res sensor.

      Currently, I don't require an occupancy grid, so its possible to disconnect both pairs of stereo-cameras on the Sentinel and free up those ports.

      Can y'all provide assistance in either:

      1. Disconnecting the stereo cameras (both hardware and software instructions) and configuring the hadron adapter on these newly available ports
      2. Disconnecting the stereo cameras (both hardware and software instructions), reconfiguring the existing tracking camera / hi-res camera on J7 to a newly freed port? (so I can connect the Hadron to J7)
      3. Some other method that you recommend?

      Thanks!

      posted in Ask your questions right here!
      S
      shawn_ricardo
    • RE: Immediate crashes in HITL

      @Eric-Katzfey

      Okay, I'll keep this in mind as I develop toward offboard control. If I find any more information, I'll follow up here.

      Just a side note: I don't see this behavior in real-world flight during manual or position, seems to be isolated to HITL at this point in time.

      Thanks!

      posted in Ask your questions right here!
      S
      shawn_ricardo