It would be nice to have at least the service failing when this happens, so we can detect the issue and restart the service.
Latest posts made by umlr
GPIO on RB5 drone
I would need to use GPIO to attach a payload to the drone. I could not find much information on if GPIO are present or usable.
The documentation mentions some connectors being GPIO (J3 & J5) but they do not seem to be accessible and seem to be already used internally.
Offboard mode and figure 8
I was trying to fly in offboard mode and I had a very weird behavior. I'm wondering if the drone is not trying to do a figure 8 when switched to offboard like by default with the VOXL.
I tried sending a zero velocity command with MAVROS but the drone is still moving. Looking at the log I see a position setpoint for x,y,z (while I'm only sending velocity). I can also see the zero velocity setpoint (for vx, vy, vz) fighting with some other setpoint value.
I also want to add that I set the PX4 parameters according to documentation and that position flight mode is working fine and very stable.
Is the RB5 also doing a figure 8 when switching to offboard and how to deactivate it to use input from MAVROS instead? It doesn't have an equivalent to voxl-vision-px4 configuration file.
Streaming stopping after running once
I got some issue with the Hi-Res streaming. I've setup the streaming service according to the documentation (https://docs.modalai.com/Qualcomm-Flight-RB5-streamer/).
Using either ffplay or VLC, I'm able to see the stream properly on rtsp://VEHICLE_IP:8554/camera3. However if I stop looking at the stream from ffplay (and/or VLC) and start looking again I cannot get anything.
Restarting the rb5-streamer or the camera service has no impact either. Streaming is only working again after restarting the whole drone.
RE: MAVROS integration & FCU URL
Another update that could be useful to someone:
I needed to have a high enough frequency on the local position feedback (ROS topic /mavros/local_position/pose) but I was only receiving at 1hz. Usual solution with most FCU is to set the parameter
Onboardbut this parameter is not available on the RB5.
Instead I added the line
mavlink stream -u 14558 -s LOCAL_POSITION_NED -r 100in /etc/modalai/full-m0052.config to set the stream rate. The end of my file looks like that.
# Configure a second mavlink instance for onboard messages (e.g. VIO and VOA) mavlink start -u 14556 -t 127.0.0.1 -n lo -m custom mavlink start -x -o 14540 -u 14558 -n lo sleep 1 mavlink stream -u 14557 -s HIGHRES_IMU -r 5 mavlink stream -u 14557 -s ATTITUDE -r 5 mavlink stream -u 14557 -s RC_CHANNELS -r 20 mavlink stream -u 14558 -s LOCAL_POSITION_NED -r 100 sleep 1 # Start up the IMU server to support VIO imu_server start
And this way I managed to get a frequency of around 55hz on /mavros/local_position/pose.
RE: QGroundControl USB connection for sensor calibration
Performing sensor calibration over a WiFi connection is known to be unreliable. You should disconnect and perform calibration using a direct USB connection instead.
Alright good to know that calibrating over WiFi is fine.
Yes WiFi connection with QGroundControl worked pretty much out-of-the-box.
QGroundControl USB connection for sensor calibration
It's not mentioned anywhere in the documentation how to connect to the RB5 by USB with QGroundControl and simply plugging the drone doesn't work (neither does trying to set the serial connection manually in QGroundControl).
I ask this because when calibrating the sensors in QGroundControl over WiFi I get the error message "Performing sensor calibration over a WiFi connection is known to be unreliable. You should disconnect and perform calibration using a direct USB connection instead."
Do I need to setup a new MAVLINK instance as it was needed for MAVROS (https://forum.modalai.com/topic/725/mavros-integration-fcu-url)? Or the sensor calibration over WiFi is fine?