I've solved the problem by setting the voxl-imu-server.conf to

"imu0_enable":  true,
"imu0_sample_rate_hz":  200,
"imu0_lp_cutoff_freq_hz":      92,
"imu0_rotate_common_frame":     true,
"imu0_fifo_poll_rate_hz":       200,
...

Tested on 2 different VOXL2 boards, this reduces the number of lost messages sequences from 60% to <0.5% of all messages. Information on why this is the case would be interesting, as it is stated here that the default config is optimized for VIO.

@Moderator Hi! I'm using :

system-image: 1.5.5-M0054-14.1a-perf
kernel:       #1 SMP PREEMPT Fri Mar 24 00:48:55 UTC 2023 4.19.125
------------------------------------------------------------------------------
hw version:   M0054
------------------------------------------------------------------------------
voxl-suite:   0.9.5
------------------------------------------------------------------------------
Packages:
Repo:  http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-0.9/binary-arm64/
Last Updated: 2023-08-24 23:20:47

When experiencing the message dropout, this is the output of voxl-inspect-cpu :

Hi! I'm working with a ModalAI Sentinel right now equipped with the VOXL2, and I've noticed after running a few test flights that the recorded imu_apps data is very patchy, with bursts of messages followed by entire seconds of silence. This puts alot of stress on my VIO. Am I missing something or is this a known issue, and if so how do I fix it?

my voxl-imu-server.conf params are the default.

Thank you in advance!

Hi! Is any dev available to help out with this?

Hi! I'm passing an external estimator input (VICON or custom kalman filter) to the (Sentinel's) VOXL2's EKF2 over a MAVROS topic, but I'm not able to get the /mavros/local_position/pose to match the vicon pose.

My Setup:

• VOXL2
• Sentinel
• Base Station with VICON Poses (in PoseStamp, and PoseStampWithCovariance)
• Turned off the QVIO on the VOXL PX4
• I use the PX4 Flight Controller on the board (no external one)

QGroundControl Parameters:

• EKF2_AID_MASK
  • vision position fusion
  • vision yaw fusion
• EKF2_EV_DELAY
  • 50 ms
• EKF2_HGT_MODE
  • Vision
• EKF2_MAG_CHECK
  • 0
• EKF2_MAG_TYPE
  • None

Process :

• I use launch the mavros and remap the VICON Pose to the following topics with the frame_id = 'map'.

  • /mavros/vision_pose/pose
  • /mavros/vision_pose/pose_cov (with a covariance matrix of 36 zeroes)

• If I open rviz I get the and look the the two poses :

  • /mavros/local_position/pose
  • /mavros/vision_pose/pose
  • /mavros/vision_pose/pose_cov

• I see that first of all the VICON pose does not get accepted by the Flight Controller (EKF2) and also that even without feeding the PX4 with the VICON pose the yaw of the Sentinel (mavros/local_position/pose) is off.

• I suspect one of the following to be the problem :

  • Calibration
  • After Mavros start it continuously outputs the Info requesting home position. Can it be that I need to set the home position that an external pose estimation with respect to the local body frame can be set. (if so how can I set the home position on the Sentinel VOXL2 ?)
  • Parameters are wrong
  • Coordinates frame are wrong
  • I should use the Odometry topic (mavros/odometry/out)

Any help would be much appreciated, thank you!

@tanguy-sagere nvm was a permission issue, thanks!

@Eric-Katzfey Hi, well now the voxl2 doesnt even show up on adb devices anymore (so I cant adb shell). However, I'm still able to connect over wifi (softap), so the voxl is working ... I've tried multiple usb cables too. After resetting the .bashrc to the default, I'am able to access shell via ssh however (as im still able to connect over wifi). the adb issue is persistent over multiple computers too

Hi!

I have a sentinel with a voxl2 that had been working fine since it was recently delivered. However, after connecting the voxl to my wifi and ssh'ing to it, whenever doing "adb shell" I am brought to "root@m0054" (adb root) rather than "voxl2: $" (adb shell).

Assistance would be welcome!

Best,

Tanguy

@modaltb Hey! Thank you for the reply ahaha, I understand its a busy quarter for everyone We are connecting the IMU to the I2C3 pins of the J9 6-pin pinout of the 5G Modem. On other devices (such as the jetson AGX orin) we are able to get a data rate of 928 hz , but on the VOXL its stuck at around 628 Hz in ROS. For the ORIN we were able to increase the rate by modifying a bus_clk_rate file in /sys/bus/i2c/devices/i2c-1 but there appears to be no equivalent here. I found a voxl_i2c_write function in your docs that looks like it could increase I2C bus rate, but unsure how to access and use it. Also tried changing the device tree file to increase the rate ceiling and making a .patch to change it and add changes to kernel_patches but that dropped the rate to 120-ish, and never increased it. Quite confusing! Thanks for your time and have a nice day!

Hi! Anyone have an idea how to fix this?