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    Posts made by Viktor Gal

    • RE: Timeline for open-vins documentation

      @Moderator yep, back and forth. unfortunately no change.

      posted in Ask your questions right here!
      Viktor GalV
      Viktor Gal
    • RE: Timeline for open-vins documentation

      @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.

      posted in Ask your questions right here!
      Viktor GalV
      Viktor Gal
    • 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)
      posted in Ask your questions right here!
      Viktor GalV
      Viktor Gal
    • 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.

      posted in Ask your questions right here!
      Viktor GalV
      Viktor Gal
    • 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
      posted in Ask your questions right here!
      Viktor GalV
      Viktor Gal
    • 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
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1	1	RC14_MIN	1000.000000000000000000	9
1	1	RC14_REV	1.000000000000000000	9
1	1	RC14_TRIM	1500.000000000000000000	9
1	1	RC15_DZ	0.000000000000000000	9
1	1	RC15_MAX	2000.000000000000000000	9
1	1	RC15_MIN	1000.000000000000000000	9
1	1	RC15_REV	1.000000000000000000	9
1	1	RC15_TRIM	1500.000000000000000000	9
1	1	RC16_DZ	0.000000000000000000	9
1	1	RC16_MAX	2000.000000000000000000	9
1	1	RC16_MIN	1000.000000000000000000	9
1	1	RC16_REV	1.000000000000000000	9
1	1	RC16_TRIM	1500.000000000000000000	9
1	1	RC17_DZ	0.000000000000000000	9
1	1	RC17_MAX	2000.000000000000000000	9
1	1	RC17_MIN	1000.000000000000000000	9
1	1	RC17_REV	1.000000000000000000	9
1	1	RC17_TRIM	1500.000000000000000000	9
1	1	RC18_DZ	0.000000000000000000	9
1	1	RC18_MAX	2000.000000000000000000	9
1	1	RC18_MIN	1000.000000000000000000	9
1	1	RC18_REV	1.000000000000000000	9
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	1001.000000000000000000	9
1	1	RC1_REV	1.000000000000000000	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	1001.000000000000000000	9
1	1	RC2_REV	1.000000000000000000	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	1001.000000000000000000	9
1	1	RC3_REV	1.000000000000000000	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	1001.000000000000000000	9
1	1	RC4_REV	1.000000000000000000	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	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	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	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	1499.000000000000000000	9
1	1	RC9_DZ	0.000000000000000000	9
1	1	RC9_MAX	2000.000000000000000000	9
1	1	RC9_MIN	1000.000000000000000000	9
1	1	RC9_REV	1.000000000000000000	9
1	1	RC9_TRIM	1500.000000000000000000	9
1	1	RC_ARMSWITCH_TH	0.750000000000000000	9
1	1	RC_CHAN_CNT	16	6
1	1	RC_CRSF_TEL_EN	0	6
1	1	RC_ENG_MOT_TH	0.750000000000000000	9
1	1	RC_FAILS_THR	0	6
1	1	RC_GEAR_TH	0.750000000000000000	9
1	1	RC_KILLSWITCH_TH	0.750000000000000000	9
1	1	RC_LOITER_TH	0.750000000000000000	9
1	1	RC_MAP_ACRO_SW	0	6
1	1	RC_MAP_ARM_SW	0	6
1	1	RC_MAP_AUX1	0	6
1	1	RC_MAP_AUX2	0	6
1	1	RC_MAP_AUX3	0	6
1	1	RC_MAP_AUX4	0	6
1	1	RC_MAP_AUX5	0	6
1	1	RC_MAP_AUX6	0	6
1	1	RC_MAP_ENG_MOT	0	6
1	1	RC_MAP_FAILSAFE	0	6
1	1	RC_MAP_FLAPS	0	6
1	1	RC_MAP_FLTMODE	6	6
1	1	RC_MAP_FLTM_BTN	0	6
1	1	RC_MAP_GEAR_SW	0	6
1	1	RC_MAP_KILL_SW	5	6
1	1	RC_MAP_LOITER_SW	0	6
1	1	RC_MAP_MAN_SW	0	6
1	1	RC_MAP_MODE_SW	0	6
1	1	RC_MAP_OFFB_SW	0	6
1	1	RC_MAP_PARAM1	0	6
1	1	RC_MAP_PARAM2	0	6
1	1	RC_MAP_PARAM3	0	6
1	1	RC_MAP_PITCH	2	6
1	1	RC_MAP_POSCTL_SW	0	6
1	1	RC_MAP_RATT_SW	0	6
1	1	RC_MAP_RETURN_SW	0	6
1	1	RC_MAP_ROLL	1	6
1	1	RC_MAP_STAB_SW	0	6
1	1	RC_MAP_THROTTLE	3	6
1	1	RC_MAP_TRANS_SW	0	6
1	1	RC_MAP_YAW	4	6
1	1	RC_OFFB_TH	0.750000000000000000	9
1	1	RC_RETURN_TH	0.750000000000000000	9
1	1	RC_TRANS_TH	0.750000000000000000	9
1	1	RTL_CONE_ANG	45	6
1	1	RTL_DESCEND_ALT	30.000000000000000000	9
1	1	RTL_HDG_MD	0	6
1	1	RTL_LAND_DELAY	0.000000000000000000	9
1	1	RTL_LOITER_RAD	80.000000000000000000	9
1	1	RTL_MIN_DIST	10.000000000000000000	9
1	1	RTL_PLD_MD	0	6
1	1	RTL_RETURN_ALT	60.000000000000000000	9
1	1	RTL_TIME_FACTOR	1.100000023841857910	9
1	1	RTL_TIME_MARGIN	100	6
1	1	RTL_TYPE	0	6
1	1	SDLOG_BOOT_BAT	0	6
1	1	SDLOG_DIRS_MAX	0	6
1	1	SDLOG_MISSION	0	6
1	1	SDLOG_MODE	0	6
1	1	SDLOG_PROFILE	129	6
1	1	SDLOG_UTC_OFFSET	0	6
1	1	SDLOG_UUID	1	6
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	-0.587000012397766113	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
1	1	SENS_GPS_PRIME	0	6
1	1	SENS_GPS_TAU	10.000000000000000000	9
1	1	SENS_IMU_AUTOCAL	0	6
1	1	SENS_IMU_MODE	1	6
1	1	SENS_MAG_AUTOCAL	0	6
1	1	SENS_MAG_AUTOROT	0	6
1	1	SENS_MAG_MODE	1	6
1	1	SENS_MAG_RATE	15.000000000000000000	9
1	1	SENS_MAG_SIDES	63	6
1	1	SYS_AUTOCONFIG	0	6
1	1	SYS_AUTOSTART	4001	6
1	1	SYS_CAL_TDEL	24	6
1	1	SYS_CAL_TMAX	10	6
1	1	SYS_CAL_TMIN	5	6
1	1	SYS_FAC_CAL_MODE	0	6
1	1	SYS_FAILURE_EN	0	6
1	1	SYS_HAS_BARO	1	6
1	1	SYS_HAS_GPS	1	6
1	1	SYS_HAS_MAG	1	6
1	1	SYS_HAS_NUM_DIST	0	6
1	1	SYS_HITL	0	6
1	1	SYS_MC_EST_GROUP	2	6
1	1	SYS_RGB_MAXBRT	1.000000000000000000	9
1	1	SYS_STCK_EN	1	6
1	1	SYS_VEHICLE_RESP	-0.400000005960464478	9
1	1	THR_MDL_FAC	0.899999976158142090	9
1	1	TRIG_MODE	0	6
1	1	UAVCAN_ENABLE	0	6
1	1	VOXL_ESC_BAUD	2000000	6
1	1	VOXL_ESC_CONFIG	1	6
1	1	VOXL_ESC_FUNC1	102	6
1	1	VOXL_ESC_FUNC2	103	6
1	1	VOXL_ESC_FUNC3	101	6
1	1	VOXL_ESC_FUNC4	104	6
1	1	VOXL_ESC_MODE	0	6
1	1	VOXL_ESC_PUB_BST	1	6
1	1	VOXL_ESC_REV	0	6
1	1	VOXL_ESC_RPM_MAX	15000	6
1	1	VOXL_ESC_RPM_MIN	2000	6
1	1	VOXL_ESC_SDIR1	0	6
1	1	VOXL_ESC_SDIR2	0	6
1	1	VOXL_ESC_SDIR3	0	6
1	1	VOXL_ESC_SDIR4	0	6
1	1	VOXL_ESC_T_COSP	0.990000009536743164	9
1	1	VOXL_ESC_T_DEAD	20	6
1	1	VOXL_ESC_T_EXPO	35	6
1	1	VOXL_ESC_T_MINF	0.150000005960464478	9
1	1	VOXL_ESC_T_OVER	0	6
1	1	VOXL_ESC_T_PERC	90	6
1	1	VOXL_ESC_T_WARN	0	6
1	1	VOXL_ESC_VLOG	1	6
1	1	VTO_LOITER_ALT	80.000000000000000000	9
1	1	VT_B_DEC_MSS	2.000000000000000000	9
1	1	WV_EN	0	6
1	1	WV_GAIN	1.000000000000000000	9
1	1	WV_ROLL_MIN	1.000000000000000000	9
1	1	WV_YRATE_MAX	90.000000000000000000	9
1	1	XRCE_DDS_DOM_ID	0	6
1	1	XRCE_DDS_KEY	1	6
      posted in Ask your questions right here!
      Viktor GalV
      Viktor Gal
    • 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	1.000000000000000000	9
1	1	CAL_ACC0_ZOFF	-0.136299997568130493	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	0.009499999694526196	9
1	1	CAL_GYRO0_YOFF	0.012900000438094139	9
1	1	CAL_GYRO0_ZOFF	0.003199999919161201	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	-0.002300000051036477	9
1	1	CAL_MAG0_XOFF	0.019600000232458115	9
1	1	CAL_MAG0_XSCALE	0.371300011873245239	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_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_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
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      posted in Ask your questions right here!
      Viktor GalV
      Viktor Gal
    • 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?

      posted in Ask your questions right here!
      Viktor GalV
      Viktor Gal
    • 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.

      posted in Ask your questions right here!
      Viktor GalV
      Viktor Gal
    • 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.

      posted in Mapping and Planning
      Viktor GalV
      Viktor Gal
    • 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).
      posted in Ask your questions right here!
      Viktor GalV
      Viktor Gal
    • RE: Timeline for open-vins documentation

      i second this question. we've been trying to get the open-vins server working on an starling 2 drone, but unfortunately no positional updates are coming in, i.e. it only shows 0,0,0 position, regardless of moving the drone or not.

      @Jeremy-Frederick have you managed to get it working at all?

      posted in Ask your questions right here!
      Viktor GalV
      Viktor Gal