@Zachary-Lowell-0 i hear you, but could you maybe give some pointers how one could make the qvio more stable? as i said it is at the moment only has 25% success rate: meaning 1 out of 5 flights i dont have problems with the qvio, the rest of the time the drone becomes unstable and crashes.
Latest posts made by Viktor Gal
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RE: Timeline for open-vins documentation
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RE: Timeline for open-vins documentation
@Zachary-Lowell-0 hey so i did what you suggested, here's the full output of openvins server but it's the very same behaviour; the qvio is nicely picking up the movements, openvins is just stationary on the portal. here are the detailed logs:
voxl2:~$ voxl-open-vins-server --verbosity 0 Setting printing level to: SILENT Setting printing level to: ALL Loading our own config file ================================================================= =========================AUTO RESET============================== en_auto_reset: 1 auto_reset_max_velocity: 20.000 auto_reset_max_v_cov_instant: 0.100 auto_reset_max_v_cov: 0.100 auto_reset_max_v_cov_timeout_s: 0.500 auto_reset_min_features: 1 auto_reset_min_feature_timeout_s: 3.000 auto_fallback_timeout_s: 3.000 auto_fallback_min_v: 0.600 en_cont_yaw_checks: false fast_yaw_thresh: 5.000 fast_yaw_timeout_s: 1.750 ===========================STATE================================= do fej: true imu avg: true use rk4 integration: true cam to imu refinement: true cam intrins refinement: true cam imu ts refinement: true max clone size: 8 max slam features: 40 max slam in update: 25 max msckf in update: 25 feat rep msckf: ANCHORED_MSCKF_INVERSE_DEPTH feat rep slam: ANCHORED_MSCKF_INVERSE_DEPTH cam imu time offset: 0.00150 slam delay: 1.00000 ================================================================= =====================INERTIAL INITIALIZER======================== gravity mag: 9.80665 init window time: 1.00000 init imu thresh: 1.00000 init dyn use: false ================================================================= ==========================IMU NOISE============================== imu sigma w: 0.00014 imu sigma wb: 0.00000 imu sigma a: 0.00389 imu sigma ab: 0.00006 ================================================================= ========================FEATURE NOISE============================ msckf chi^2 multiplier: 1.00000 msckf sigma px: 1.00000 slam chi^2 multiplier: 40.00000 slam sigma px: 1.80000 zupt chi^2 multiplier: 1.00000 zupt sigma px: 1.00000 ================================================================= =============================ZUPT================================ try zupt: true zupt max velocity: 0.03000 zupt only at beginning: true zupt noise multiplier: 1.00000 zupt max disparity: 3.00000 ================================================================= use mask: true use stereo: false use baro: false ================================================================= ========================FEATURE INITIALIZER====================== triangulate 1d: false refine features: false max runs: 5 init lamda: 0.00100 max lamda: 10000000000.00000 min dx: 0.00000 min dcost: 0.00000 lam mult: 10.00000 min dist: 0.10000 max dist: 60.00000 max baseline: 40.00000 num_opencv_threads: 9 fast_threshold: 15 histogram_method: HISTOGRAM knn_ratio: 0.70000 track_frequency: 15.00000 publish_frequency: 3 imu takeoff accel thresh: 0.10000 force init on takeoff: false use takeoff_camera_as: 0 takeoff_threshold(m): -0.100000 publish stats: false max_allowable_cep: 1.00000 force FLU to NED transform: false VIO always on (for bench testing): false ================================================================= ================================================================= Number of cameras found for this config: 1 [INFO] External feature trackers being used? false camera count: 1 MONO mode (using cam idx: 0) Number of cameras found for this config: 1 [INFO] External feature trackers being used? false camera count: 1 MONO mode (using cam idx: 0) Skipping camera group index: 2, not enabled Loading OpenCV intrinsics cal file from: /data/modalai/opencv_tracking_front_intrinsics.yml Loading OpenCV intrinsics cal file from: /data/modalai/opencv_tracking_down_intrinsics.yml cam_load_extrinsics_file World Rotation Matrix: 1.000000 0 0 0 1.000000 0 0 0 1.000000 load extrinsics 2 Using extrinsics under camera ID: tracking_front [INFO] Camera: 0 -- converted extrinsics *in FLU* are: Roll: -0.000000, Pitch 90.000000, Yaw -90.000000 (local) CAMERA ROTATION MATRIX: [0, 0, 1; -1, 0, 0; 0, -1, 0] (local) CAMERA TRANSLATION: 0.037 -0 -0.0006 Using extrinsics under camera ID: tracking_down [INFO] Camera: 1 -- converted extrinsics *in FLU* are: Roll: -0.000000, Pitch 180.000000, Yaw -360.000000 (local) CAMERA ROTATION MATRIX: [-1, 0, 0; 0, 1, 0; 0, 0, -1] (local) CAMERA TRANSLATION: -0.08825 0.0045 -0.00269 Done transfer camera configuration transfer ================================================================= ==========================CAMERA 0================================ name: tracking_front mode: MONO camera matrix: 460.27780 0.00000 621.21213 0.00000 459.85438 408.51998 0.00000 0.00000 1.00000 distortion coefficients: 0.05324 0.02329 -0.00926 0.00026 ==========================CAMERA 1================================ name: tracking_front mode: MONO camera matrix: 462.04073 0.00000 660.98324 0.00000 462.09738 397.45450 0.00000 0.00000 1.00000 distortion coefficients: 0.04984 0.04004 -0.02646 0.00611 =============================KLT================================= num_features_to_track: 30 grid_x: 5 grid_y: 5 min_pix_dist: 50 pyramid_levels: 5 [block] window_size: (25 x 25) ===========================KLTGYRO=============================== tmp_imu_name: imu_apps tracking_front wrt imu_apps: 0.00000 0.00000 1.00000 -1.00000 0.00000 0.00000 0.00000 -1.00000 0.00000 tracking_down wrt imu_apps: -1.00000 0.00000 0.00000 0.00000 1.00000 0.00000 0.00000 0.00000 -1.00000 Loading external config file =====> imu to read from: imu OpenVINS using fisheye camera OpenVINS FINAL Cam extrinsics to IMU for tracking_front: 7 -0.5 0.5 -0.5 0.5 0.037 -0 -0.0006 OpenVINS using fisheye camera OpenVINS FINAL Cam extrinsics to IMU for tracking_down: 7 -1.22465e-16 -1 -7.4988e-33 -6.12323e-17 -0.08825 0.0045 -0.00269 ++++++++++++++++++++++++++ OpenVINS reports number of cameras being used, regardless of delivery method (pipe, merge, etc...): 2 ++++++++++++++++++++++++++ VioManagerOptions.h:108 ESTIMATOR PARAMETERS: StateOptions.h:108 - use_fej: 1 StateOptions.h:109 - use_imuavg: 1 StateOptions.h:110 - use_rk4int: 1 StateOptions.h:111 - calib_cam_extrinsics: 1 StateOptions.h:112 - calib_cam_intrinsics: 1 StateOptions.h:113 - calib_cam_timeoffset: 1 StateOptions.h:114 - max_clones: 8 StateOptions.h:115 - max_slam: 40 StateOptions.h:116 - max_slam_in_update: 25 StateOptions.h:117 - max_msckf_in_update: 25 StateOptions.h:118 - max_aruco: 1024 StateOptions.h:119 - max_cameras: 2 StateOptions.h:120 - feat_rep_msckf: ANCHORED_MSCKF_INVERSE_DEPTH StateOptions.h:121 - feat_rep_slam: ANCHORED_MSCKF_INVERSE_DEPTH StateOptions.h:122 - feat_rep_aruco: GLOBAL_3D InertialInitializerOptions.h:125 INITIALIZATION SETTINGS: InertialInitializerOptions.h:150 - init_window_time: 1.00 InertialInitializerOptions.h:151 - init_imu_thresh: 1.00 InertialInitializerOptions.h:152 - init_max_disparity: 3.00 InertialInitializerOptions.h:153 - init_max_features: 0.00 InertialInitializerOptions.h:171 - init_dyn_use: 0 InertialInitializerOptions.h:172 - init_dyn_mle_opt_calib: 0 InertialInitializerOptions.h:173 - init_dyn_mle_max_iter: 20 InertialInitializerOptions.h:174 - init_dyn_mle_max_threads: 20 InertialInitializerOptions.h:175 - init_dyn_mle_max_time: 2.00 InertialInitializerOptions.h:176 - init_dyn_num_pose: 8 InertialInitializerOptions.h:177 - init_dyn_min_deg: 45.00 InertialInitializerOptions.h:178 - init_dyn_inflation_ori: 1.00e+01 InertialInitializerOptions.h:179 - init_dyn_inflation_vel: 1.00e+01 InertialInitializerOptions.h:180 - init_dyn_inflation_bg: 1.00e+02 InertialInitializerOptions.h:181 - init_dyn_inflation_ba: 1.00e+02 InertialInitializerOptions.h:182 - init_dyn_min_rec_cond: 1.00e-15 InertialInitializerOptions.h:188 - init_dyn_bias_g: 0.00, 0.00, 0.00 InertialInitializerOptions.h:189 - init_dyn_bias_a: 0.00, 0.00, 0.00 InertialInitializerOptions.h:216 NOISE PARAMETERS: InertialInitializerOptions.h:224 - gyroscope_noise_density: 0.000170 InertialInitializerOptions.h:225 - accelerometer_noise_density: 0.00200 InertialInitializerOptions.h:226 - gyroscope_random_walk: 0.0000194 InertialInitializerOptions.h:227 - accelerometer_random_walk: 0.003000 InertialInitializerOptions.h:228 - sigma_pix: 1.00 InertialInitializerOptions.h:318 STATE PARAMETERS: InertialInitializerOptions.h:319 - gravity_mag: 9.8066 InertialInitializerOptions.h:320 - gravity: 0.000, 0.000, 9.807 InertialInitializerOptions.h:321 - num_cameras: 2 InertialInitializerOptions.h:322 - use_stereo: 0 InertialInitializerOptions.h:323 - downsize cameras: 0 InertialInitializerOptions.h:332 - calib_camimu_dt: 0.0000 InertialInitializerOptions.h:348 cam_0_fisheye:1 cam_0_wh: 1280 x 800 cam_0_intrinsic(0:3): 460.278 459.854 621.212 408.52 cam_0_intrinsic(4:7): 0.0532387 0.0232891 -0.0092603 0.000263136 cam_0_extrinsic(0:3): -0.5 0.5 -0.5 0.5 cam_0_extrinsic(4:6): 0.037 -0 -0.0006 T_C0toI: 0 2.22045e-16 1 0.0006 -1 2.22045e-16 0 0.037 -2.22045e-16 -1 2.22045e-16 8.34888e-18 0 0 0 1 InertialInitializerOptions.h:348 cam_1_fisheye:1 cam_1_wh: 1280 x 800 cam_1_intrinsic(0:3): 462.041 462.097 660.983 397.455 cam_1_intrinsic(4:7): 0.0498391 0.040037 -0.0264578 0.0061076 cam_1_extrinsic(0:3): -1.22465e-16 -1 -7.4988e-33 -6.12323e-17 cam_1_extrinsic(4:6): -0.08825 0.0045 -0.00269 T_C1toI: -1 2.44929e-16 1.22465e-16 -0.08825 2.44929e-16 1 0 -0.0045 -1.22465e-16 2.99952e-32 -1 -0.00269 0 0 0 1 VioManagerOptions.h:121 - dt_slam_delay: 1.0 VioManagerOptions.h:122 - zero_velocity_update: 1 VioManagerOptions.h:123 - zupt_max_velocity: 0.03 VioManagerOptions.h:124 - zupt_noise_multiplier: 1.00 VioManagerOptions.h:125 - zupt_max_disparity: 3.0000 VioManagerOptions.h:126 - zupt_only_at_beginning?: 1 VioManagerOptions.h:127 - record timing?: 0 VioManagerOptions.h:128 - record timing filepath: ov_msckf_timing.txt VioManagerOptions.h:155 NOISE PARAMETERS: NoiseManager.h:62 - gyroscope_noise_density: 0.000140 NoiseManager.h:63 - accelerometer_noise_density: 0.00389 NoiseManager.h:64 - gyroscope_random_walk: 0.0000004 NoiseManager.h:65 - accelerometer_random_walk: 0.000055 VioManagerOptions.h:179 Updater MSCKF Feats: UpdaterOptions.h:45 - chi2_multipler: 1.0 UpdaterOptions.h:46 - sigma_pix: 1.00 VioManagerOptions.h:181 Updater SLAM Feats: UpdaterOptions.h:45 - chi2_multipler: 40.0 UpdaterOptions.h:46 - sigma_pix: 1.80 VioManagerOptions.h:183 Updater ARUCO Tags: UpdaterOptions.h:45 - chi2_multipler: 5.0 UpdaterOptions.h:46 - sigma_pix: 1.00 VioManagerOptions.h:185 Updater ZUPT: UpdaterOptions.h:45 - chi2_multipler: 1.0 UpdaterOptions.h:46 - sigma_pix: 1.00 VioManagerOptions.h:292 STATE PARAMETERS: VioManagerOptions.h:293 - gravity_mag: 9.8100 VioManagerOptions.h:294 - gravity: 0.000, 0.000, 9.810 VioManagerOptions.h:295 - camera masks?: 1 VioManagerOptions.h:304 - calib_camimu_dt: 0.0015 VioManagerOptions.h:320 cam_0_fisheye:1 cam_0_wh: 1280 x 800 cam_0_intrinsic(0:3): 460.278 459.854 621.212 408.52 cam_0_intrinsic(4:7): 0.0532387 0.0232891 -0.0092603 0.000263136 cam_0_extrinsic(0:3): -0.5 0.5 -0.5 0.5 cam_0_extrinsic(4:6): 0.037 -0 -0.0006 T_C0toI: 0 2.22045e-16 1 0.0006 -1 2.22045e-16 0 0.037 -2.22045e-16 -1 2.22045e-16 8.34888e-18 0 0 0 1 VioManagerOptions.h:320 cam_1_fisheye:1 cam_1_wh: 1280 x 800 cam_1_intrinsic(0:3): 462.041 462.097 660.983 397.455 cam_1_intrinsic(4:7): 0.0498391 0.040037 -0.0264578 0.0061076 cam_1_extrinsic(0:3): -1.22465e-16 -1 -7.4988e-33 -6.12323e-17 cam_1_extrinsic(4:6): -0.08825 0.0045 -0.00269 T_C1toI: -1 2.44929e-16 1.22465e-16 -0.08825 2.44929e-16 1 0 -0.0045 -1.22465e-16 2.99952e-32 -1 -0.00269 0 0 0 1 VioManagerOptions.h:426 FEATURE TRACKING PARAMETERS: VioManagerOptions.h:427 - use_stereo: 0 VioManagerOptions.h:428 - use_klt: 1 VioManagerOptions.h:429 - use_aruco: 0 VioManagerOptions.h:430 - downsize aruco: 1 VioManagerOptions.h:431 - downsize cameras: 0 VioManagerOptions.h:432 - num opencv threads: 9 VioManagerOptions.h:433 - use multi-threading pubs: 1 VioManagerOptions.h:434 - use multi-threading subs: 1 VioManagerOptions.h:435 - num_pts: 30 VioManagerOptions.h:436 - fast threshold: 15 VioManagerOptions.h:437 - grid X by Y: 5 by 5 VioManagerOptions.h:438 - min px dist: 50 VioManagerOptions.h:439 - hist method: 1 VioManagerOptions.h:440 - knn ratio: 0.700 VioManagerOptions.h:441 - track frequency: 15.0 VioManagerOptions.h:442 - limit imu propagation (windows based on init_imu+cam-imu delay): 1 FeatureInitializerOptions.h:87 - triangulate_1d: 0 FeatureInitializerOptions.h:88 - refine_features: 0 FeatureInitializerOptions.h:89 - max_runs: 5 FeatureInitializerOptions.h:90 - init_lamda: 0.001 FeatureInitializerOptions.h:91 - max_lamda: 10000000000.000 FeatureInitializerOptions.h:92 - min_dx: 0.0000010 FeatureInitializerOptions.h:93 - min_dcost: 0.0000010 FeatureInitializerOptions.h:94 - lam_mult: 10.000 FeatureInitializerOptions.h:95 - min_dist: 0.100 FeatureInitializerOptions.h:96 - max_dist: 60.000 FeatureInitializerOptions.h:97 - max_baseline: 40.000 FeatureInitializerOptions.h:98 - max_cond_number: 600000.000 Set camera intrinsics and extrinsics ====> Using Internal KLT feature tracker <==== >>>>>>>>>> Current reference counts: trackDB: 1 trackFEATS: 1 propagator: 2 updaterMSCKF: 1 updaterSLAM: 1 active_tracks_initializer: 1 initializer: 1 setting scheduler INFO: set FIFO priority successfully! create_server_pipes connecting client pipes Number of Cameras active: 2 Camera merge --- > ch: 1 to cam id: 0 Opening camera pipe: tracking_front tmp_camera_pipe_names.push_back(): tracking_front Camera merge --- > ch: 2 to cam id: 1 Opening camera pipe: tracking_down tmp_camera_pipe_names.push_back(): tracking_down imu pipe name: imu_apps Camera processing thread is now locked to the following cores: 7 VioManager.cpp:454 [TIME]: 0.0358 seconds for tracking VioManagerHelper.cpp:174 [init]: failed initialization in 0.0000 seconds VioManager.cpp:454 [TIME]: 0.0139 seconds for tracking InertialInitializer.cpp:127 [init]: not enough feats to compute disp: 0,0 < 15 VioManagerHelper.cpp:174 [init]: failed initialization in 0.0002 seconds VioManager.cpp:454 [TIME]: 0.0170 seconds for tracking InertialInitializer.cpp:127 [init]: not enough feats to compute disp: 0,0 < 15 VioManagerHelper.cpp:174 [init]: failed initialization in 0.0003 seconds VioManager.cpp:454 [TIME]: 0.0162 seconds for tracking InertialInitializer.cpp:127 [init]: not enough feats to compute disp: 0,62 < 15 VioManagerHelper.cpp:174 [init]: failed initialization in 0.0001 seconds VioManager.cpp:454 [TIME]: 0.0112 seconds for tracking InertialInitializer.cpp:127 [init]: not enough feats to compute disp: 0,62 < 15 VioManagerHelper.cpp:174 [init]: failed initialization in 0.0003 seconds VioManager.cpp:454 [TIME]: 0.0175 seconds for tracking InertialInitializer.cpp:127 [init]: not enough feats to compute disp: 0,62 < 15 VioManagerHelper.cpp:174 [init]: failed initialization in 0.0002 seconds VioManager.cpp:454 [TIME]: 0.0156 seconds for tracking InertialInitializer.cpp:127 [init]: not enough feats to compute disp: 0,62 < 15 VioManagerHelper.cpp:174 [init]: failed initialization in 0.0003 seconds VioManager.cpp:454 [TIME]: 0.0105 seconds for tracking InertialInitializer.cpp:127 [init]: not enough feats to compute disp: 0,62 < 15 VioManagerHelper.cpp:174 [init]: failed initialization in 0.0003 seconds VioManager.cpp:454 [TIME]: 0.0169 seconds for tracking InertialInitializer.cpp:134 [init]: *** disparity is 0.000,0.000 (3.00 thresh) InertialInitializer.cpp:145 [init]: USING STATIC INITIALIZER METHOD! IMU samples too small, make your window smaller (params.init_window_time), can't initalize 241.141469 - 240.222589 (0.918880) StaticInitializer.cpp:55 [init-s]: unable to select window of IMU readings, not enough readings VioManagerHelper.cpp:174 [init]: failed initialization in 0.0004 seconds VioManager.cpp:454 [TIME]: 0.0115 seconds for tracking InertialInitializer.cpp:134 [init]: *** disparity is 0.000,0.000 (3.00 thresh) InertialInitializer.cpp:145 [init]: USING STATIC INITIALIZER METHOD! StaticInitializer.cpp:104 [init-s]: IMU excitation stats: 0.029,0.014 VioManagerHelper.cpp:138 [init]: successful initialization in 0.0008 seconds VioManagerHelper.cpp:140 [init]: orientation = -0.0029, 0.0025, 0.0000, 1.0000 VioManagerHelper.cpp:142 [init]: bias gyro = 0.0025, 0.0000, 0.0016 VioManagerHelper.cpp:144 [init]: velocity = 0.0000, 0.0000, 0.0000 VioManagerHelper.cpp:146 [init]: bias accel = 0.0000, 0.0000, -0.0046 VioManagerHelper.cpp:148 [init]: position = 0.0000, 0.0000, 0.0000 VioManagerHelper.cpp:168 [init]: moved the state forward 0.00 seconds StateHelper.cpp:686 new augment clone at timestamp: 241.367844 waiting for enough clone states (1 of 5).... [INFO] TAKEOFF: DISPARITY disturbed, possible motion detected. Avg: 91.364071 (3.000000) # feats: 5 (20). UpdaterZeroVelocity.cpp:242 [ZUPT]: failed disparity (91.364 > 3.000, 5 features) UpdaterZeroVelocity.cpp:255 [ZUPT]: accepted |v_IinG| = 0.003 (chi2 99.575 < 113.145) [INFO] TAKEOFF: DISPARITY disturbed, possible motion detected. Avg: 0.000000 (3.000000) # feats: 5 (20). UpdaterZeroVelocity.cpp:242 [ZUPT]: failed disparity (0.000 > 3.000, 5 features) UpdaterZeroVelocity.cpp:255 [ZUPT]: accepted |v_IinG| = 0.007 (chi2 62.236 < 106.395) UpdaterZeroVelocity.cpp:233 [ZUPT]: passed disparity (0.000 < 3.000, 40 features) UpdaterZeroVelocity.cpp:255 [ZUPT]: accepted |v_IinG| = 0.004 (chi2 88.421 < 119.871) UpdaterZeroVelocity.cpp:233 [ZUPT]: passed disparity (0.000 < 3.000, 40 features) UpdaterZeroVelocity.cpp:255 [ZUPT]: accepted |v_IinG| = 0.004 (chi2 96.190 < 119.871) UpdaterZeroVelocity.cpp:233 [ZUPT]: passed disparity (0.000 < 3.000, 40 features) UpdaterZeroVelocity.cpp:255 [ZUPT]: accepted |v_IinG| = 0.003 (chi2 132.910 < 119.871) UpdaterZeroVelocity.cpp:233 [ZUPT]: passed disparity (0.000 < 3.000, 40 features) UpdaterZeroVelocity.cpp:255 [ZUPT]: accepted |v_IinG| = 0.003 (chi2 95.202 < 119.871) UpdaterZeroVelocity.cpp:233 [ZUPT]: passed disparity (0.000 < 3.000, 40 features) UpdaterZeroVelocity.cpp:255 [ZUPT]: accepted |v_IinG| = 0.003 (chi2 76.613 < 106.395) UpdaterZeroVelocity.cpp:233 [ZUPT]: passed disparity (0.000 < 3.000, 40 features) UpdaterZeroVelocity.cpp:255 [ZUPT]: accepted |v_IinG| = 0.002 (chi2 105.215 < 113.145) UpdaterZeroVelocity.cpp:233 [ZUPT]: passed disparity (0.000 < 3.000, 40 features) UpdaterZeroVelocity.cpp:255 [ZUPT]: accepted |v_IinG| = 0.002 (chi2 86.990 < 119.871)
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RE: Timeline for open-vins documentation
@Zachary-Lowell-0 so those params are after running
voxl-configure-mpa
; i still dont understand why there's a diff between the apparently same v2 starlings.i can run the imu_apps calibration and retry OV.
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RE: Timeline for open-vins documentation
just for clarity here's the diff of the two params above:
--- px4.params 2024-10-30 16:15:04.683354722 +0100 +++ Downloads/params_update.params 2024-10-30 16:59:34.597742954 +0100 @@ -25,11 +25,11 @@ 1 1 CAL_ACC0_ID 2490378 6 1 1 CAL_ACC0_PRIO 50 6 1 1 CAL_ACC0_ROT -1 6 -1 1 CAL_ACC0_XOFF -0.004399999976158142 9 +1 1 CAL_ACC0_XOFF -0.041400000452995300 9 1 1 CAL_ACC0_XSCALE 1.000000000000000000 9 -1 1 CAL_ACC0_YOFF 0.004999999888241291 9 +1 1 CAL_ACC0_YOFF -0.014000000432133675 9 1 1 CAL_ACC0_YSCALE 1.000000000000000000 9 -1 1 CAL_ACC0_ZOFF -0.136299997568130493 9 +1 1 CAL_ACC0_ZOFF -0.050900001078844070 9 1 1 CAL_ACC0_ZSCALE 1.000000000000000000 9 1 1 CAL_ACC1_ID 0 6 1 1 CAL_ACC2_ID 0 6 @@ -44,9 +44,9 @@ 1 1 CAL_GYRO0_ID 2490378 6 1 1 CAL_GYRO0_PRIO 50 6 1 1 CAL_GYRO0_ROT -1 6 -1 1 CAL_GYRO0_XOFF 0.009499999694526196 9 -1 1 CAL_GYRO0_YOFF 0.012900000438094139 9 -1 1 CAL_GYRO0_ZOFF 0.003199999919161201 9 +1 1 CAL_GYRO0_XOFF 0.001399999950081110 9 +1 1 CAL_GYRO0_YOFF 0.019099999219179153 9 +1 1 CAL_GYRO0_ZOFF -0.001799999969080091 9 1 1 CAL_GYRO1_ID 0 6 1 1 CAL_GYRO2_ID 0 6 1 1 CAL_GYRO3_ID 0 6 @@ -54,17 +54,17 @@ 1 1 CAL_MAG0_PRIO 75 6 1 1 CAL_MAG0_ROT 0 6 1 1 CAL_MAG0_XCOMP 0.000000000000000000 9 -1 1 CAL_MAG0_XODIAG -0.002300000051036477 9 -1 1 CAL_MAG0_XOFF 0.019600000232458115 9 -1 1 CAL_MAG0_XSCALE 0.371300011873245239 9 +1 1 CAL_MAG0_XODIAG -0.027599999681115150 9 +1 1 CAL_MAG0_XOFF -0.093400001525878906 9 +1 1 CAL_MAG0_XSCALE 1.085199952125549316 9 1 1 CAL_MAG0_YCOMP 0.000000000000000000 9 -1 1 CAL_MAG0_YODIAG 0.009100000374019146 9 -1 1 CAL_MAG0_YOFF 0.122199997305870056 9 -1 1 CAL_MAG0_YSCALE 0.383500009775161743 9 +1 1 CAL_MAG0_YODIAG 0.014800000004470348 9 +1 1 CAL_MAG0_YOFF 0.249599993228912354 9 +1 1 CAL_MAG0_YSCALE 0.836799979209899902 9 1 1 CAL_MAG0_ZCOMP 0.000000000000000000 9 -1 1 CAL_MAG0_ZODIAG 0.008999999612569809 9 -1 1 CAL_MAG0_ZOFF -4.477099895477294922 9 -1 1 CAL_MAG0_ZSCALE 0.055500000715255737 9 +1 1 CAL_MAG0_ZODIAG -0.007000000216066837 9 +1 1 CAL_MAG0_ZOFF -0.107400000095367432 9 +1 1 CAL_MAG0_ZSCALE 1.048200011253356934 9 1 1 CAL_MAG1_ID 0 6 1 1 CAL_MAG1_ROT -1 6 1 1 CAL_MAG2_ID 0 6 @@ -632,10 +632,10 @@ 1 1 RC11_REV 1.000000000000000000 9 1 1 RC11_TRIM 1500.000000000000000000 9 1 1 RC12_DZ 0.000000000000000000 9 -1 1 RC12_MAX 1988.000000000000000000 9 -1 1 RC12_MIN 1011.000000000000000000 9 +1 1 RC12_MAX 2000.000000000000000000 9 +1 1 RC12_MIN 1000.000000000000000000 9 1 1 RC12_REV 1.000000000000000000 9 -1 1 RC12_TRIM 1499.000000000000000000 9 +1 1 RC12_TRIM 1500.000000000000000000 9 1 1 RC13_DZ 0.000000000000000000 9 1 1 RC13_MAX 2000.000000000000000000 9 1 1 RC13_MIN 1000.000000000000000000 9 @@ -668,44 +668,44 @@ 1 1 RC18_TRIM 1500.000000000000000000 9 1 1 RC1_DZ 10.000000000000000000 9 1 1 RC1_MAX 2000.000000000000000000 9 -1 1 RC1_MIN 1000.000000000000000000 9 +1 1 RC1_MIN 1001.000000000000000000 9 1 1 RC1_REV 1.000000000000000000 9 -1 1 RC1_TRIM 1500.000000000000000000 9 +1 1 RC1_TRIM 1499.000000000000000000 9 1 1 RC2_DZ 10.000000000000000000 9 1 1 RC2_MAX 2000.000000000000000000 9 -1 1 RC2_MIN 1000.000000000000000000 9 +1 1 RC2_MIN 1001.000000000000000000 9 1 1 RC2_REV 1.000000000000000000 9 -1 1 RC2_TRIM 1500.000000000000000000 9 +1 1 RC2_TRIM 1501.000000000000000000 9 1 1 RC3_DZ 10.000000000000000000 9 1 1 RC3_MAX 2000.000000000000000000 9 -1 1 RC3_MIN 1000.000000000000000000 9 +1 1 RC3_MIN 1001.000000000000000000 9 1 1 RC3_REV 1.000000000000000000 9 -1 1 RC3_TRIM 1500.000000000000000000 9 +1 1 RC3_TRIM 1001.000000000000000000 9 1 1 RC4_DZ 10.000000000000000000 9 1 1 RC4_MAX 2000.000000000000000000 9 -1 1 RC4_MIN 1000.000000000000000000 9 +1 1 RC4_MIN 1001.000000000000000000 9 1 1 RC4_REV 1.000000000000000000 9 -1 1 RC4_TRIM 1500.000000000000000000 9 +1 1 RC4_TRIM 1507.000000000000000000 9 1 1 RC5_DZ 10.000000000000000000 9 1 1 RC5_MAX 1988.000000000000000000 9 1 1 RC5_MIN 1011.000000000000000000 9 1 1 RC5_REV 1.000000000000000000 9 -1 1 RC5_TRIM 1500.000000000000000000 9 +1 1 RC5_TRIM 1499.000000000000000000 9 1 1 RC6_DZ 10.000000000000000000 9 1 1 RC6_MAX 1988.000000000000000000 9 1 1 RC6_MIN 1011.000000000000000000 9 1 1 RC6_REV 1.000000000000000000 9 -1 1 RC6_TRIM 1500.000000000000000000 9 +1 1 RC6_TRIM 1499.000000000000000000 9 1 1 RC7_DZ 10.000000000000000000 9 1 1 RC7_MAX 1988.000000000000000000 9 1 1 RC7_MIN 1011.000000000000000000 9 1 1 RC7_REV 1.000000000000000000 9 -1 1 RC7_TRIM 1500.000000000000000000 9 +1 1 RC7_TRIM 1499.000000000000000000 9 1 1 RC8_DZ 10.000000000000000000 9 1 1 RC8_MAX 1988.000000000000000000 9 1 1 RC8_MIN 1011.000000000000000000 9 1 1 RC8_REV 1.000000000000000000 9 -1 1 RC8_TRIM 1500.000000000000000000 9 +1 1 RC8_TRIM 1499.000000000000000000 9 1 1 RC9_DZ 0.000000000000000000 9 1 1 RC9_MAX 2000.000000000000000000 9 1 1 RC9_MIN 1000.000000000000000000 9 @@ -774,8 +774,8 @@ 1 1 SENS_BARO_QNH 1013.250000000000000000 9 1 1 SENS_BARO_RATE 20.000000000000000000 9 1 1 SENS_BOARD_ROT 0 6 -1 1 SENS_BOARD_X_OFF -0.067400000989437103 9 -1 1 SENS_BOARD_Y_OFF -0.318699985742568970 9 +1 1 SENS_BOARD_X_OFF -0.587000012397766113 9 +1 1 SENS_BOARD_Y_OFF -0.263300001621246338 9 1 1 SENS_BOARD_Z_OFF 0.000000000000000000 9 1 1 SENS_DPRES_OFF 0.000000000000000000 9 1 1 SENS_GPS_MASK 7 6
-
RE: Timeline for open-vins documentation
note when dumping the same params on the another starling v2 drone i'm getting a slightly different set of params, which i have no idea why it is.
# Onboard parameters for Vehicle 1 # # Stack: PX4 Pro # Vehicle: Multi-Rotor # Version: 1.14.0 dev # Git Revision: 70d986f08a020054 # # Vehicle-Id Component-Id Name Value Type 1 1 ASPD_SCALE_1 1.000000000000000000 9 1 1 BAT1_CAPACITY 3950.000000000000000000 9 1 1 BAT1_N_CELLS 2 6 1 1 BAT1_R_INTERNAL 0.021999999880790710 9 1 1 BAT1_SOURCE 0 6 1 1 BAT1_V_CHARGED 4.099999904632568359 9 1 1 BAT1_V_EMPTY 2.799999952316284180 9 1 1 BAT1_V_LOAD_DROP 0.100000001490116119 9 1 1 BAT_AVRG_CURRENT 4.300000190734863281 9 1 1 BAT_CRIT_THR 0.100000001490116119 9 1 1 BAT_EMERGEN_THR 0.050000000745058060 9 1 1 BAT_LOW_THR 0.150000005960464478 9 1 1 BAT_N_CELLS 3 6 1 1 BAT_V_CHARGED 4.050000190734863281 9 1 1 BAT_V_EMPTY 3.599999904632568359 9 1 1 BAT_V_LOAD_DROP 0.300000011920928955 9 1 1 CAL_ACC0_ID 2490378 6 1 1 CAL_ACC0_PRIO 50 6 1 1 CAL_ACC0_ROT -1 6 1 1 CAL_ACC0_XOFF -0.041400000452995300 9 1 1 CAL_ACC0_XSCALE 1.000000000000000000 9 1 1 CAL_ACC0_YOFF -0.014000000432133675 9 1 1 CAL_ACC0_YSCALE 1.000000000000000000 9 1 1 CAL_ACC0_ZOFF -0.050900001078844070 9 1 1 CAL_ACC0_ZSCALE 1.000000000000000000 9 1 1 CAL_ACC1_ID 0 6 1 1 CAL_ACC2_ID 0 6 1 1 CAL_ACC3_ID 0 6 1 1 CAL_AIR_CMODEL 0 6 1 1 CAL_AIR_TUBED_MM 1.500000000000000000 9 1 1 CAL_AIR_TUBELEN 0.200000002980232239 9 1 1 CAL_BARO0_ID 0 6 1 1 CAL_BARO1_ID 0 6 1 1 CAL_BARO2_ID 0 6 1 1 CAL_BARO3_ID 0 6 1 1 CAL_GYRO0_ID 2490378 6 1 1 CAL_GYRO0_PRIO 50 6 1 1 CAL_GYRO0_ROT -1 6 1 1 CAL_GYRO0_XOFF 0.001399999950081110 9 1 1 CAL_GYRO0_YOFF 0.019099999219179153 9 1 1 CAL_GYRO0_ZOFF -0.001799999969080091 9 1 1 CAL_GYRO1_ID 0 6 1 1 CAL_GYRO2_ID 0 6 1 1 CAL_GYRO3_ID 0 6 1 1 CAL_MAG0_ID 527625 6 1 1 CAL_MAG0_PRIO 75 6 1 1 CAL_MAG0_ROT 0 6 1 1 CAL_MAG0_XCOMP 0.000000000000000000 9 1 1 CAL_MAG0_XODIAG -0.027599999681115150 9 1 1 CAL_MAG0_XOFF -0.093400001525878906 9 1 1 CAL_MAG0_XSCALE 1.085199952125549316 9 1 1 CAL_MAG0_YCOMP 0.000000000000000000 9 1 1 CAL_MAG0_YODIAG 0.014800000004470348 9 1 1 CAL_MAG0_YOFF 0.249599993228912354 9 1 1 CAL_MAG0_YSCALE 0.836799979209899902 9 1 1 CAL_MAG0_ZCOMP 0.000000000000000000 9 1 1 CAL_MAG0_ZODIAG -0.007000000216066837 9 1 1 CAL_MAG0_ZOFF -0.107400000095367432 9 1 1 CAL_MAG0_ZSCALE 1.048200011253356934 9 1 1 CAL_MAG1_ID 0 6 1 1 CAL_MAG1_ROT -1 6 1 1 CAL_MAG2_ID 0 6 1 1 CAL_MAG2_ROT -1 6 1 1 CAL_MAG3_ID 0 6 1 1 CAL_MAG3_ROT -1 6 1 1 CAL_MAG_COMP_TYP 0 6 1 1 CAL_MAG_SIDES 63 6 1 1 CA_AIRFRAME 0 6 1 1 CA_FAILURE_MODE 0 6 1 1 CA_METHOD 2 6 1 1 CA_R0_SLEW 0.000000000000000000 9 1 1 CA_R10_SLEW 0.000000000000000000 9 1 1 CA_R11_SLEW 0.000000000000000000 9 1 1 CA_R1_SLEW 0.000000000000000000 9 1 1 CA_R2_SLEW 0.000000000000000000 9 1 1 CA_R3_SLEW 0.000000000000000000 9 1 1 CA_R4_SLEW 0.000000000000000000 9 1 1 CA_R5_SLEW 0.000000000000000000 9 1 1 CA_R6_SLEW 0.000000000000000000 9 1 1 CA_R7_SLEW 0.000000000000000000 9 1 1 CA_R8_SLEW 0.000000000000000000 9 1 1 CA_R9_SLEW 0.000000000000000000 9 1 1 CA_ROTOR0_AX 0.000000000000000000 9 1 1 CA_ROTOR0_AY 0.000000000000000000 9 1 1 CA_ROTOR0_AZ -1.000000000000000000 9 1 1 CA_ROTOR0_CT 6.500000000000000000 9 1 1 CA_ROTOR0_KM 0.050000000745058060 9 1 1 CA_ROTOR0_PX 0.085000000894069672 9 1 1 CA_ROTOR0_PY 0.062500000000000000 9 1 1 CA_ROTOR0_PZ 0.000000000000000000 9 1 1 CA_ROTOR10_AX 0.000000000000000000 9 1 1 CA_ROTOR10_AY 0.000000000000000000 9 1 1 CA_ROTOR10_AZ -1.000000000000000000 9 1 1 CA_ROTOR10_CT 6.500000000000000000 9 1 1 CA_ROTOR10_KM 0.050000000745058060 9 1 1 CA_ROTOR10_PX 0.000000000000000000 9 1 1 CA_ROTOR10_PY 0.000000000000000000 9 1 1 CA_ROTOR10_PZ 0.000000000000000000 9 1 1 CA_ROTOR11_AX 0.000000000000000000 9 1 1 CA_ROTOR11_AY 0.000000000000000000 9 1 1 CA_ROTOR11_AZ -1.000000000000000000 9 1 1 CA_ROTOR11_CT 6.500000000000000000 9 1 1 CA_ROTOR11_KM 0.050000000745058060 9 1 1 CA_ROTOR11_PX 0.000000000000000000 9 1 1 CA_ROTOR11_PY 0.000000000000000000 9 1 1 CA_ROTOR11_PZ 0.000000000000000000 9 1 1 CA_ROTOR1_AX 0.000000000000000000 9 1 1 CA_ROTOR1_AY 0.000000000000000000 9 1 1 CA_ROTOR1_AZ -1.000000000000000000 9 1 1 CA_ROTOR1_CT 6.500000000000000000 9 1 1 CA_ROTOR1_KM 0.050000000745058060 9 1 1 CA_ROTOR1_PX -0.085000000894069672 9 1 1 CA_ROTOR1_PY -0.062500000000000000 9 1 1 CA_ROTOR1_PZ 0.000000000000000000 9 1 1 CA_ROTOR2_AX 0.000000000000000000 9 1 1 CA_ROTOR2_AY 0.000000000000000000 9 1 1 CA_ROTOR2_AZ -1.000000000000000000 9 1 1 CA_ROTOR2_CT 6.500000000000000000 9 1 1 CA_ROTOR2_KM -0.050000000745058060 9 1 1 CA_ROTOR2_PX 0.085000000894069672 9 1 1 CA_ROTOR2_PY -0.062500000000000000 9 1 1 CA_ROTOR2_PZ 0.000000000000000000 9 1 1 CA_ROTOR3_AX 0.000000000000000000 9 1 1 CA_ROTOR3_AY 0.000000000000000000 9 1 1 CA_ROTOR3_AZ -1.000000000000000000 9 1 1 CA_ROTOR3_CT 6.500000000000000000 9 1 1 CA_ROTOR3_KM -0.050000000745058060 9 1 1 CA_ROTOR3_PX -0.085000000894069672 9 1 1 CA_ROTOR3_PY 0.062500000000000000 9 1 1 CA_ROTOR3_PZ 0.000000000000000000 9 1 1 CA_ROTOR4_AX 0.000000000000000000 9 1 1 CA_ROTOR4_AY 0.000000000000000000 9 1 1 CA_ROTOR4_AZ -1.000000000000000000 9 1 1 CA_ROTOR4_CT 6.500000000000000000 9 1 1 CA_ROTOR4_KM 0.050000000745058060 9 1 1 CA_ROTOR4_PX 0.000000000000000000 9 1 1 CA_ROTOR4_PY 0.000000000000000000 9 1 1 CA_ROTOR4_PZ 0.000000000000000000 9 1 1 CA_ROTOR5_AX 0.000000000000000000 9 1 1 CA_ROTOR5_AY 0.000000000000000000 9 1 1 CA_ROTOR5_AZ -1.000000000000000000 9 1 1 CA_ROTOR5_CT 6.500000000000000000 9 1 1 CA_ROTOR5_KM 0.050000000745058060 9 1 1 CA_ROTOR5_PX 0.000000000000000000 9 1 1 CA_ROTOR5_PY 0.000000000000000000 9 1 1 CA_ROTOR5_PZ 0.000000000000000000 9 1 1 CA_ROTOR6_AX 0.000000000000000000 9 1 1 CA_ROTOR6_AY 0.000000000000000000 9 1 1 CA_ROTOR6_AZ -1.000000000000000000 9 1 1 CA_ROTOR6_CT 6.500000000000000000 9 1 1 CA_ROTOR6_KM 0.050000000745058060 9 1 1 CA_ROTOR6_PX 0.000000000000000000 9 1 1 CA_ROTOR6_PY 0.000000000000000000 9 1 1 CA_ROTOR6_PZ 0.000000000000000000 9 1 1 CA_ROTOR7_AX 0.000000000000000000 9 1 1 CA_ROTOR7_AY 0.000000000000000000 9 1 1 CA_ROTOR7_AZ -1.000000000000000000 9 1 1 CA_ROTOR7_CT 6.500000000000000000 9 1 1 CA_ROTOR7_KM 0.050000000745058060 9 1 1 CA_ROTOR7_PX 0.000000000000000000 9 1 1 CA_ROTOR7_PY 0.000000000000000000 9 1 1 CA_ROTOR7_PZ 0.000000000000000000 9 1 1 CA_ROTOR8_AX 0.000000000000000000 9 1 1 CA_ROTOR8_AY 0.000000000000000000 9 1 1 CA_ROTOR8_AZ -1.000000000000000000 9 1 1 CA_ROTOR8_CT 6.500000000000000000 9 1 1 CA_ROTOR8_KM 0.050000000745058060 9 1 1 CA_ROTOR8_PX 0.000000000000000000 9 1 1 CA_ROTOR8_PY 0.000000000000000000 9 1 1 CA_ROTOR8_PZ 0.000000000000000000 9 1 1 CA_ROTOR9_AX 0.000000000000000000 9 1 1 CA_ROTOR9_AY 0.000000000000000000 9 1 1 CA_ROTOR9_AZ -1.000000000000000000 9 1 1 CA_ROTOR9_CT 6.500000000000000000 9 1 1 CA_ROTOR9_KM 0.050000000745058060 9 1 1 CA_ROTOR9_PX 0.000000000000000000 9 1 1 CA_ROTOR9_PY 0.000000000000000000 9 1 1 CA_ROTOR9_PZ 0.000000000000000000 9 1 1 CA_ROTOR_COUNT 4 6 1 1 CA_R_REV 0 6 1 1 CA_SV0_SLEW 0.000000000000000000 9 1 1 CA_SV1_SLEW 0.000000000000000000 9 1 1 CA_SV2_SLEW 0.000000000000000000 9 1 1 CA_SV3_SLEW 0.000000000000000000 9 1 1 CA_SV4_SLEW 0.000000000000000000 9 1 1 CA_SV5_SLEW 0.000000000000000000 9 1 1 CA_SV6_SLEW 0.000000000000000000 9 1 1 CA_SV7_SLEW 0.000000000000000000 9 1 1 CBRK_AIRSPD_CHK 0 6 1 1 CBRK_FLIGHTTERM 121212 6 1 1 CBRK_IO_SAFETY 22027 6 1 1 CBRK_SUPPLY_CHK 894281 6 1 1 CBRK_USB_CHK 197848 6 1 1 CBRK_VTOLARMING 0 6 1 1 COM_ACT_FAIL_ACT 0 6 1 1 COM_ARM_ARSP_EN 1 6 1 1 COM_ARM_AUTH_ID 10 6 1 1 COM_ARM_AUTH_MET 0 6 1 1 COM_ARM_AUTH_REQ 0 6 1 1 COM_ARM_AUTH_TO 1.000000000000000000 9 1 1 COM_ARM_BAD_INOV 0 6 1 1 COM_ARM_CHK_ESCS 0 6 1 1 COM_ARM_EKF_BIAS 3.000000000000000000 9 1 1 COM_ARM_EKF_HGT 1.000000000000000000 9 1 1 COM_ARM_EKF_POS 0.500000000000000000 9 1 1 COM_ARM_EKF_VEL 0.500000000000000000 9 1 1 COM_ARM_EKF_YAW 0.500000000000000000 9 1 1 COM_ARM_HFLT_CHK 1 6 1 1 COM_ARM_IMU_ACC 0.699999988079071045 9 1 1 COM_ARM_IMU_GYR 0.250000000000000000 9 1 1 COM_ARM_MAG_ANG 60 6 1 1 COM_ARM_MAG_STR 2 6 1 1 COM_ARM_MIS_REQ 0 6 1 1 COM_ARM_ODID 0 6 1 1 COM_ARM_SDCARD 0 6 1 1 COM_ARM_SWISBTN 0 6 1 1 COM_ARM_WO_GPS 1 6 1 1 COM_CPU_MAX -1.000000000000000000 9 1 1 COM_DISARM_FORCE 0 6 1 1 COM_DISARM_LAND 0.100000001490116119 9 1 1 COM_DISARM_PRFLT 20.000000000000000000 9 1 1 COM_DL_LOSS_T 10 6 1 1 COM_FAIL_ACT_T 5.000000000000000000 9 1 1 COM_FLIGHT_UUID 0 6 1 1 COM_FLTMODE1 0 6 1 1 COM_FLTMODE2 0 6 1 1 COM_FLTMODE3 2 6 1 1 COM_FLTMODE4 2 6 1 1 COM_FLTMODE5 7 6 1 1 COM_FLTMODE6 7 6 1 1 COM_FLT_PROFILE 0 6 1 1 COM_FLT_TIME_MAX -1 6 1 1 COM_FORCE_SAFETY 0 6 1 1 COM_HLDL_LOSS_T 120 6 1 1 COM_HLDL_REG_T 0 6 1 1 COM_HOME_EN 1 6 1 1 COM_HOME_IN_AIR 0 6 1 1 COM_IMB_PROP_ACT 0 6 1 1 COM_KILL_DISARM 0.000000000000000000 9 1 1 COM_LKDOWN_TKO 3.000000000000000000 9 1 1 COM_LOW_BAT_ACT 0 6 1 1 COM_MOT_TEST_EN 1 6 1 1 COM_OBC_LOSS_T 5.000000000000000000 9 1 1 COM_OBL_RC_ACT 0 6 1 1 COM_OBS_AVOID 0 6 1 1 COM_OF_LOSS_T 1.000000000000000000 9 1 1 COM_PARACHUTE 0 6 1 1 COM_POSCTL_NAVL 0 6 1 1 COM_POS_FS_DELAY 1 6 1 1 COM_POS_FS_EPH 5.000000000000000000 9 1 1 COM_POS_LOW_EPH -1.000000000000000000 9 1 1 COM_POWER_COUNT 1 6 1 1 COM_PREARM_MODE 0 6 1 1 COM_QC_ACT 0 6 1 1 COM_RCL_EXCEPT 0 6 1 1 COM_RC_ARM_HYST 1000 6 1 1 COM_RC_IN_MODE 3 6 1 1 COM_RC_LOSS_T 0.500000000000000000 9 1 1 COM_RC_OVERRIDE 1 6 1 1 COM_RC_STICK_OV 30.000000000000000000 9 1 1 COM_SPOOLUP_TIME 2.000000000000000000 9 1 1 COM_TAKEOFF_ACT 0 6 1 1 COM_VEL_FS_EVH 1.000000000000000000 9 1 1 COM_WIND_MAX -1.000000000000000000 9 1 1 COM_WIND_WARN -1.000000000000000000 9 1 1 CP_DELAY 0.400000005960464478 9 1 1 CP_DIST -1.000000000000000000 9 1 1 CP_GO_NO_DATA 0 6 1 1 CP_GUIDE_ANG 30.000000000000000000 9 1 1 EKF2_ABIAS_INIT 0.200000002980232239 9 1 1 EKF2_ABL_ACCLIM 25.000000000000000000 9 1 1 EKF2_ABL_GYRLIM 3.000000000000000000 9 1 1 EKF2_ABL_LIM 0.400000005960464478 9 1 1 EKF2_ABL_TAU 0.500000000000000000 9 1 1 EKF2_ACC_B_NOISE 0.003000000026077032 9 1 1 EKF2_ACC_NOISE 0.349999994039535522 9 1 1 EKF2_AID_MASK 0 6 1 1 EKF2_ANGERR_INIT 0.100000001490116119 9 1 1 EKF2_ARSP_THR 0.000000000000000000 9 1 1 EKF2_ASPD_MAX 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RE: Timeline for open-vins documentation
@Zachary-Lowell-0 it's a typical indoor environment (a room in a flat).
# Onboard parameters for Vehicle 1 # # Stack: PX4 Pro # Vehicle: Multi-Rotor # Version: 1.14.0 dev # Git Revision: 70d986f08a020054 # # Vehicle-Id Component-Id Name Value Type 1 1 ASPD_SCALE_1 1.000000000000000000 9 1 1 BAT1_CAPACITY 3950.000000000000000000 9 1 1 BAT1_N_CELLS 2 6 1 1 BAT1_R_INTERNAL 0.021999999880790710 9 1 1 BAT1_SOURCE 0 6 1 1 BAT1_V_CHARGED 4.099999904632568359 9 1 1 BAT1_V_EMPTY 2.799999952316284180 9 1 1 BAT1_V_LOAD_DROP 0.100000001490116119 9 1 1 BAT_AVRG_CURRENT 4.300000190734863281 9 1 1 BAT_CRIT_THR 0.100000001490116119 9 1 1 BAT_EMERGEN_THR 0.050000000745058060 9 1 1 BAT_LOW_THR 0.150000005960464478 9 1 1 BAT_N_CELLS 3 6 1 1 BAT_V_CHARGED 4.050000190734863281 9 1 1 BAT_V_EMPTY 3.599999904632568359 9 1 1 BAT_V_LOAD_DROP 0.300000011920928955 9 1 1 CAL_ACC0_ID 2490378 6 1 1 CAL_ACC0_PRIO 50 6 1 1 CAL_ACC0_ROT -1 6 1 1 CAL_ACC0_XOFF -0.004399999976158142 9 1 1 CAL_ACC0_XSCALE 1.000000000000000000 9 1 1 CAL_ACC0_YOFF 0.004999999888241291 9 1 1 CAL_ACC0_YSCALE 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RE: Timeline for open-vins documentation
@Zachary-Lowell-0 yep i i've constantly updating the stack and rerun
voxl-configure-mpa
. what parameters do you exactly need from PX4? -
RE: Timeline for open-vins documentation
@Zachary-Lowell-0 sure; basically 20% of the time it is working when i'm flying the drone around.
at the moment it is:
- constantly loosing Z axis estimate, so it is just shooting up to the air uncontrollably
- loosing speed estimation and then just shoots out to some random direction
- the yaw estimates; again getting uncontrollable.
so yeah at the moment i have 4 starling drones (mostly v2) and they are really not usable most of the time with qvio.
-
RE: Voxl-mapper on VOXL2
@plub yeah, unless you have other means to get the depth information. see the code: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-mapper/-/blob/master/server/voxl-mapper/voxl_mapper.cc?ref_type=heads#L99
basically you need a depth sensor of sort.
-
RE: Timeline for open-vins documentation
@Zachary-Lowell-0 well i'm having serious issues with the qvio on Starling 2 so i'd be really interested in getting the OV running.
so some details about the drone:
hw platform: M0054 mach.var: 1.0.1 -------------------------------------------------------------------------------- voxl-suite: 1.3.5
i've tried various setups (neither has been successful), but currently trying to use
voxl-configure-open-vins tracking_fd_ext
and this is the output:voxl2:~$ voxl-open-vins-server Setting printing level to: SILENT Loading our own config file ================================================================= =========================AUTO RESET============================== en_auto_reset: 1 auto_reset_max_velocity: 20.000 auto_reset_max_v_cov_instant: 0.100 auto_reset_max_v_cov: 0.100 auto_reset_max_v_cov_timeout_s: 0.500 auto_reset_min_features: 1 auto_reset_min_feature_timeout_s: 3.000 auto_fallback_timeout_s: 3.000 auto_fallback_min_v: 0.600 en_cont_yaw_checks: false fast_yaw_thresh: 5.000 fast_yaw_timeout_s: 1.750 ===========================STATE================================= do fej: true imu avg: true use rk4 integration: true cam to imu refinement: true cam intrins refinement: true cam imu ts refinement: true max clone size: 8 max slam features: 40 max slam in update: 25 max msckf in update: 25 feat rep msckf: ANCHORED_MSCKF_INVERSE_DEPTH feat rep slam: ANCHORED_MSCKF_INVERSE_DEPTH cam imu time offset: 0.00150 slam delay: 1.00000 ================================================================= =====================INERTIAL INITIALIZER======================== gravity mag: 9.80665 init window time: 1.00000 init imu thresh: 1.00000 init dyn use: false ================================================================= ==========================IMU NOISE============================== imu sigma w: 0.00014 imu sigma wb: 0.00000 imu sigma a: 0.00389 imu sigma ab: 0.00006 ================================================================= ========================FEATURE NOISE============================ msckf chi^2 multiplier: 1.00000 msckf sigma px: 1.00000 slam chi^2 multiplier: 40.00000 slam sigma px: 1.80000 zupt chi^2 multiplier: 1.00000 zupt sigma px: 1.00000 ================================================================= =============================ZUPT================================ try zupt: true zupt max velocity: 0.03000 zupt only at beginning: true zupt noise multiplier: 1.00000 zupt max disparity: 3.00000 ================================================================= use mask: true use stereo: false use baro: false ================================================================= ========================FEATURE INITIALIZER====================== triangulate 1d: false refine features: false max runs: 5 init lamda: 0.00100 max lamda: 10000000000.00000 min dx: 0.00000 min dcost: 0.00000 lam mult: 10.00000 min dist: 0.10000 max dist: 60.00000 max baseline: 40.00000 num_opencv_threads: 9 fast_threshold: 15 histogram_method: HISTOGRAM knn_ratio: 0.70000 track_frequency: 15.00000 publish_frequency: 3 imu takeoff accel thresh: 0.10000 force init on takeoff: false use takeoff_camera_as: 0 takeoff_threshold(m): -0.100000 publish stats: false max_allowable_cep: 1.00000 force FLU to NED transform: false VIO always on (for bench testing): false ================================================================= ================================================================= Number of cameras found for this config: 1 [INFO] External feature trackers being used? false camera count: 1 MONO mode (using cam idx: 0) Number of cameras found for this config: 1 [INFO] External feature trackers being used? false camera count: 1 MONO mode (using cam idx: 0) Skipping camera group index: 2, not enabled Loading OpenCV intrinsics cal file from: /data/modalai/opencv_tracking_front_intrinsics.yml Loading OpenCV intrinsics cal file from: /data/modalai/opencv_tracking_down_intrinsics.yml cam_load_extrinsics_file World Rotation Matrix: 1.000000 0 0 0 1.000000 0 0 0 1.000000 load extrinsics 2 Using extrinsics under camera ID: tracking_front [INFO] Camera: 0 -- converted extrinsics *in FLU* are: Roll: -0.000000, Pitch 90.000000, Yaw -90.000000 (local) CAMERA ROTATION MATRIX: [0, 0, 1; -1, 0, 0; 0, -1, 0] (local) CAMERA TRANSLATION: 0.037 -0 -0.0006 Using extrinsics under camera ID: tracking_down [INFO] Camera: 1 -- converted extrinsics *in FLU* are: Roll: -0.000000, Pitch 180.000000, Yaw -360.000000 (local) CAMERA ROTATION MATRIX: [-1, 0, 0; 0, 1, 0; 0, 0, -1] (local) CAMERA TRANSLATION: -0.08825 0.0045 -0.00269 Done transfer camera configuration transfer ================================================================= ==========================CAMERA 0================================ name: tracking_front mode: MONO camera matrix: 460.27780 0.00000 621.21213 0.00000 459.85438 408.51998 0.00000 0.00000 1.00000 distortion coefficients: 0.05324 0.02329 -0.00926 0.00026 ==========================CAMERA 1================================ name: tracking_front mode: MONO camera matrix: 462.04073 0.00000 660.98324 0.00000 462.09738 397.45450 0.00000 0.00000 1.00000 distortion coefficients: 0.04984 0.04004 -0.02646 0.00611 =============================KLT================================= num_features_to_track: 30 grid_x: 5 grid_y: 5 min_pix_dist: 50 pyramid_levels: 5 [block] window_size: (25 x 25) ===========================KLTGYRO=============================== tmp_imu_name: imu_apps tracking_front wrt imu_apps: 0.00000 0.00000 1.00000 -1.00000 0.00000 0.00000 0.00000 -1.00000 0.00000 tracking_down wrt imu_apps: -1.00000 0.00000 0.00000 0.00000 1.00000 0.00000 0.00000 0.00000 -1.00000 Loading external config file =====> imu to read from: imu OpenVINS using fisheye camera OpenVINS FINAL Cam extrinsics to IMU for tracking_front: 7 -0.5 0.5 -0.5 0.5 0.037 -0 -0.0006 OpenVINS using fisheye camera OpenVINS FINAL Cam extrinsics to IMU for tracking_down: 7 -1.22465e-16 -1 -7.4988e-33 -6.12323e-17 -0.08825 0.0045 -0.00269 ++++++++++++++++++++++++++ OpenVINS reports number of cameras being used, regardless of delivery method (pipe, merge, etc...): 2 ++++++++++++++++++++++++++ Set camera intrinsics and extrinsics ====> Using Internal KLT feature tracker <==== >>>>>>>>>> Current reference counts: trackDB: 1 trackFEATS: 1 propagator: 2 updaterMSCKF: 1 updaterSLAM: 1 active_tracks_initializer: 1 initializer: 1 setting scheduler INFO: set FIFO priority successfully! create_server_pipes connecting client pipes Number of Cameras active: 2 Camera merge --- > ch: 1 to cam id: 0 Opening camera pipe: tracking_front tmp_camera_pipe_names.push_back(): tracking_front Camera merge --- > ch: 2 to cam id: 1 Opening camera pipe: tracking_down tmp_camera_pipe_names.push_back(): tracking_down imu pipe name: imu_apps Camera processing thread is now locked to the following cores: 7 IMU samples too small, make your window smaller (params.init_window_time), can't initalize 157.939047 - 157.110998 (0.828049) IMU samples too small, make your window smaller (params.init_window_time), can't initalize 158.009460 - 157.110998 (0.898463) IMU samples too small, make your window smaller (params.init_window_time), can't initalize 158.109201 - 157.110998 (0.998204) waiting for enough clone states (1 of 5).... [INFO] TAKEOFF: DISPARITY disturbed, possible motion detected. Avg: 92.076079 (3.000000) # feats: 9 (20). [INFO] TAKEOFF: DISPARITY disturbed, possible motion detected. Avg: 0.000000 (3.000000) # feats: 9 (20).