ModalAI Forum

Thanks @Alex-Kushleyev, will do, much appreciated

Thanks @Alex-Kushleyev ,

We have tried quite a bit crashed also broken pros, broken drone legs, injured as well. We are using different dev drones, even the once's which are not suppose to run indoor do well when it comes to controls and estimations.
If the issues was small enough that can be controlled with sticks then there was no issues.

I dont think it should be as bad as what we are seeing doent makes sense and want to rule out if we have missed anything when we did and SDK upgrade to 1.1.2.

The following are some observation and not limited to only these

• Latency between RC and System
• Services crashing in the middle (ex Drone would not arm while inspect shows all services are running, restart everything then all good)
• If we look into position mode, more issues like qvio would crash for example. Just arming the drone would make it to take off etc.

We have used Sentinel before and did not have such issues.

Next week, I will try to debug from scratch (reduce vel, acc, sensitivity etc so its easy to test and not crash ) and see if I can find the issues.

It would be interesting to get this up and run autonomously indoors

Thanks @Alex-Kushleyev ,

Joystick movement basically

• ARM ( move to right bottom )
• Bottom position
• Middle position

After complete wipe, I have followed calibration as detailed below
https://docs.modalai.com/calibration/
Camera, tracking using factory opencv file as well as calibrating using chessboard
IMU, following instruction from QGC, same for horizon

The error it is not consistent, I only noticed it when I tried doing voxl-logger --preset_odometry
Probably in terms of hundreds

The reason why I felt something odd is when u write a ROS code just to arm and disarm the drone arms however also tries to take off. If we talk abt position hold it just takes it to the ceiling.

Clip of ESC sound, just in case if you find anything different

https://youtu.be/d7rFEJEmjoA

Thanks @Alex-Kushleyev , @Eric-Katzfey

Battery @ 87%

I have not tried to yaw earlier nor have done it this time

px4 logs:
[https://review.px4.io/plot_app?log=5a80a45a-0aa2-428c-aa01-788493b635b9](link url)

Clip, hopefully can indicate whats happening in current state

https://youtu.be/jp-JdU60IPM

One observation not sure if it matters:
I was running: voxl-logger --preset_odometry

It started showing up error as below

Other thing I have tried to avoid any manual errors is ROS example as described below

https://gitlab.com/voxl-public/support/mavros_test/-/blob/simple-example/catkin_ws/src/mavros_test/src/mavros_test_node.cpp?ref_type=heads

The expectation was just to arm and disarm however the drone just takes off.

Thanks @Alex-Kushleyev

When voxl-esc-tools was run using props on the following was observed

Motor 1

Motor 2

Motor 3

Motor 4

Will remove the props and do the test and update.

Thanks @Eric-Katzfey

I believe we followed the instruction on the website and instructions mentioned in the clip.
https://www.youtube.com/watch?v=Cpbbye3Z6co

All the params look right however drone would not be under control in manual mode.
When tried on position mode, it looked to be doing well half a meter up from the ground, when tried to raise the altitude, ended up taking off and crashing.

The cam started to complain "BAD_CAM..." when tried restore, it complain on partition being in correct, thus ended up wipe install to SDK 1.1.2. It has not made up in the air after and crashes.

Thanks @Eric-Katzfey

As requested please find the uploaded log as below

https://review.px4.io/plot_app?log=66f46543-fd98-4d55-bcf3-bba24eaf6c33

Hi,

After Sentinel, we wanted to try out Starling for our Indoor use case.
Starling in our first flight just took off and crashed in position hold.
Not sure if it was due to VIO features as we followed all the instruction.

After multiple try to get it hover which kept on crashing, one of the props broke.
We got props replaced, however the sound of ESC/motor was different.
We had to complete wipe and upgrade to 1.1.2 as it complained partition error.

• QDL wipe/flash - r14.1a_1.1.2-M0054-14.1a-FLAT-V3/1.1.2-M0054-14.1a-FLAT-V3/ufs - Success
• VOXL SDK install - voxl2_SDK_1.1.2 - Success
• Perform ESC param upgrade and Calibration - Success (Had issues earlier)
• Performed Re-calibration - Success

Calibration File Status:
Present /data/modalai/voxl-imu-server.cal 
Present /data/modalai/opencv_tracking_intrinsics.yml 
Present /data/px4/param/parameters_gyro.cal 
Present /data/px4/param/parameters_acc.cal 
Present /data/px4/param/parameters_level.cal 
Present /data/px4/param/parameters_mag.cal 

Starling can be armed however if we take of we it will crash as it has done before.
As it looks like even though ESC tool dint complain all light etc good, however ESC/Motor comb looks to be affected due to crash.

Can we request to know what motors should we get/order to replace (mini2 motors?)
Anything else we should give a try to get it to factory status.

Thanks

Thanks @tom much appreciated. Received the file.
Was following the instructions as mentioned here https://docs.modalai.com/calibrate-cameras/ for better understanding of calibration files.

@Matthew-Wellner

It probably due to voxl-px4, if you just run the voxl-esc, it will stop voxl-px4 however if you are running python scripts directly it does not.
I would try stopping voxl-px4 as below, check and then run voxl-esc scripts and see if I still get the same issue

You can check if px4 is running:

systemctl is-active voxl-px4

stop px4:

systemctl stop voxl-px4

Just in case if this is of any help as I had similar issue and above resolved it.

Thanks @tom

Serial Number: M23000001JV

Do we know what are the right propellers for Starling drone.
From what I could make out would it be Mavic-Mini-2-Propellers-Set 4726

Trying to get back to a state where position hold is stable

Thanks @Alex-Kushleyev,

The issue with voxl-esc as you have indicated was to do with voxl-px4 and would resolve by stopping voxl-p4.

There was some sort of partition layout being in correct so ended up doing full wipe and thus RC would not ARM due to calibration required.

As /data/ partition gets wiped out along with all the factory calibration files.

Ended up doing Calibration as described here
https://docs.modalai.com/px4-calibrate-sensors/

Now RC can talk and ARM.

Are these files available somewhere to reset back to factory state?

Hi @tom ,

We are having similar issue with Starling, problem contacting ESC.
Multiple flash with different SDK version all successful, can run spin which does spin all motors, however cannot arm from controller

Model number: M23000001JV

Hi,

We are considering purchasing Starling +Doodle Labs Radio and integrate for indoor operations.

Starling
https://www.modalai.com/products/starling?variant=45182917738800

Doodle-labs:
1x Add-on Dev kit on Drone
https://www.modalai.com/products/mdk-m10000510-1?variant=40946775654451

1x Stand Alone kit for QGC
https://www.modalai.com/products/mdk-m10000510-1?variant=40946775621683

Is the above the proper configuration? Would we need extra dongles / add-on boards purchased for the radios to be added for purchase?
Do we have to solder an adapter?

Reference guide used:

• https://docs.modalai.com/doodle-labs-user-guide/
• https://doodlelabs.com/wp-content/uploads/2022/09/Smart-Radio-VOXL-Integration-Guide-v0622.pdf

Any help is much appreciated.

Hi,

As per the website link it looked like starling works with doodle labs.

I had reached out on

"How we go abt placing such order so we have doodle labs integrated with Starling drone. "

However I got a response as below.

We do not offer Starling with Doodle Labs.
Regards,
ModalAI

Can I request if you can let us know if

• Starling works with doodle labs as indicated in above link
• If so, let us know what all parts we should be placed to order if we have integrate it (including any cables etc if possible).

Thanks