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    Joel Fankam
    @joekrom
    On the pozyx website there is a tutorial for 3D orientation "https://docs.pozyx.io/creator/latest/python/tutorial-3-orientation-3d-python"
    apm.png
    @rmackay9 that is an image showing the disproportion of my local data
    Jee88
    @Jee88

    Hello.
    I am testing T265 with apsync and 4.1-dev.
    It's difficult to get the Tracking Confidence High message from a 45-degree camera, so there is a problem with flight stability.
    Recently, we proceeded to Flat (DownForeward) to secure more stable flight performance.

    I have a few questions.

    -When I first tested it, I connected it to the GPIO 5V pin and the serial port. There was a problem. I have recently connected the power with a C-type usb cable.
    Can I get better power stability with the recommended Pi Connectlite?
    -Is there any difference between connecting a USB-serial cable and GPIO serial pin header?
    -If you look at the log in Non-ROS, the date comes in 1980, but changing BRD_RTC_TYPES had no effect. Is there any way?
    -On thien's blog I saw the story of using optical flow as a backup indoors. I wonder if using it as a dual will work better indoors.

    These are the log files that have been tested recently. I use yaw data as a camera heading, and a downward lidar. I am using enable_auto_set_home=True in thien's script.

    My drone tracks steadily and suddenly the Pose Jump data comes in and loses posture.
    Maybe I'm doing the wrong parameter setting.

    https://drive.google.com/drive/folders/1HwtgpBd3ZHehethRmmJaOSWYMNERsviW?usp=sharing

    Thank you for always.

    Randy Mackay
    @rmackay9
    @joekrom, thanks for the link. So it appears that the Pozyx has gained a compass and an IMU so this is how it could get the orientation.
    Randy Mackay
    @rmackay9
    @Jee88, txs for the testing and feedback. I think that facing the camera downwards is probably not a good idea. From the feedback we've received it seems that forward facing is best (and the wiki has been updated to recommend the camera is facing forward). I don't really understand how you're powering the RPI4 (?) and camera but if you're relying on the autopilot to provide power through it's serial port then this is definitely not good. A separate BEC or the PiConnectLite receiving power from the main battery will definitely be more stable and reliable.
    Re the "Pos jump detecdted" messages, these all appear right at the end of the log and there are no messages of any type including VISP messages after this. Maybe @thien94's scripts have an issue when the camera is disconnected which causes it to constantly output , "Pose jump detected" ... I'm not really sure but it seems like this happens once the flight is over in any case. Maybe the camera lens is very close to the ground so it doesn't know where it is anymore. I find it odd that the scripts are outputting this message but not sending VISP messages but I'll wait for @thien94's reply on this.
    Re the date, does the RPI4 you're using have a real time clock? Maybe something like this? https://chicagodist.com/products/rasclock-rtc-for-raspberry-pi.
    Randy Mackay
    @rmackay9
    I don't have one of these and I've never tested if our APSync image will send the time to the autopilot.. I can look into this though.
    Jee88
    @Jee88

    @rmackay9 Thank you very much.
    I was supplying the 5v BEC from the main battery via the usb C type. Let's test with PyConnect lite and front camera. Let's also consider the Raspberry Pi time.

    (I'm worried that the propeller will not see enough patterns when the camera is mounted in front of the lens)

    Thank you.

    Thien Nguyen
    @thien94
    At least in my tests, when the camera is disconnected the script should stop working right after. If the pose jump message is constantly pushed out that means the position data is diverging (moving rapidly away), which can happen during/after takeoff and landing that exceeds the T265's IMU acceleration range limit (see here IntelRealSense/librealsense#3991).
    Thien Nguyen
    @thien94
    That might have been the case for @Jee88 , in one of your logs, I see the z position quickly went to the ground after a spike in the accel's data is observed:
    image.png
    May I suggest:
    • increasing the camera's distance to the ground (if you need to have it facing downward)
    • add damping if possible. just test take off and landing to verify whether the vibration is an issue or not.
    • make sure the camera's FOV is not blocked (or as little as possible) by any part of the quadcopter.
    • test at somewhere with abundant visual features on the ground if you can.
    Jee88
    @Jee88

    Thanks to @thien94 and everyone.

    VISP.PZ data is rising after IMU.Accz data is dropped as shown in the analyzed log. The drone also climbed and found the velocity and position data displayed in red on the mission planner EK.

    In my previous row, I checked the same phenomenon as the log when'EKF variance' and pos horiz / pos vert variance error occurred.

    I updated my shared drive.
    https://drive.google.com/drive/folders/1HwtgpBd3ZHehethRmmJaOSWYMNERsviW?usp=sharing
    I uploaded 2 log and tlog and video at that time.
    Sorry it's not a YouTube video.

    Guided and RTL tests were also conducted in this test. Where the pattern is clear, although the reset_counter increases, the ekf data stabilizes. In the RTL test, an error occurred as soon as the RTL command was input, and the drone was vertically raised. (RTL_ALTITUDE is currently set at altitude. The loiter speed, ascent and descent speed were also adjusted.)

    I will test again by applying a vibration tape or vibration reduction mount, but do you have any tips to improve the IMU accel.z acceleration range limiting performance by modifying the EKF parameters?

    Thank you very much.

    Thien Nguyen
    @thien94

    but do you have any tips to improve the IMU accel.z acceleration range limiting performance by modifying the EKF parameters?

    If you are referring to the T265: it's a combination of hardware / software limitation from the T265's internal IMU / librealsense configuration. As far as I know, the acceleration range is not configurable. On that part AP is not related.

    If you are referring to the FCU's internal IMU, you can check out this wiki: https://ardupilot.org/dev/docs/extended-kalman-filter.html

    Joel Fankam
    @joekrom
    @peterbarker hi i am using SITL to simulate fake gps using the GPS_INPUT Message . i have an old version of the GPS_INPUT Message and there is no field to set the yaw parameter . i would like to know if by extending the message definition on the /ardupilot /modules/mavlink/message_defeinitions/v1.0/common.xml would be enough to feed the yaw to the drone ? thx im forward
    Ian McElhenny
    @mcelhennyi

    @rmackay9 Thanks for the response, I had originally set the EK2_GPS_TYPE to 3 (no GPS), but that didnt seem to stop the warning....then when I did disable to GPS checks it seemed the SITL didnt know how to yaw anymore, but if I enabled back GPS it would yaw. (I would send a setpoint with a yaw delta relative to body to test)

    Have you (or anyone) been able to run the sitl without GPS enabled lately? I am on version ArduCopter V4.1.0-dev (77e52362)

    Its almost like disabling GPS makes it also disable the compass, so it doesnt know what heading it has? I would think with just gyro it should be able to try and yaw though...
    Joel Fankam
    @joekrom
    @mcelhennyi yes i run the SITL withoout GPS but with the arducopter version 3.6.8
    RoboBil
    @RoboBil
    @rmackay9 A few weeks ago I was testing the T265 on my rover. But after the jump errors, I knew I had to return to the POZYX system. With EK3, it work very well. Question to all... Is there a way to state the position of the POZYX tag relative to the origin like VISO_POS_X?
    Ian McElhenny
    @mcelhennyi

    @joekrom
    Maybe this is a 4.x+ issue? I am going to open an issue in the repo I guess...

    Oddly, I just tried again with turning off the GPS and GPS checks again, and it seems to work now...I can yaw just fine now.

    I had initially setup a test case where I enabled MAV gps and was converting local position ned to a gps point, and was injecting it back in to the AP using the HIL_GPS message...and that also worked...but now the proper way works...odd

    Joel Fankam
    @joekrom
    @mcelhennyi i am struggling to update the sitl copter version, can you ccheck if the field yaw is available in your GPS_INPUT message definition ?
    Ian McElhenny
    @mcelhennyi
    @joekrom I actually am not using that message, rather the HIL_GPS message
    Joel Fankam
    @joekrom
    @mcelhennyi which positioning system are you using ?
    Ian McElhenny
    @mcelhennyi
    currently, in the sitl, just the flow sensor. In real life, T265.
    Joel Fankam
    @joekrom
    ok cool that is nice , i am using pozyx
    that means you use the flow sensor to send data to the drone with a gps input ?
    Ian McElhenny
    @mcelhennyi
    no, the arducopter can ingest the flow sensor. I was just trying to get around the gps issue, so I was (hack) injecting the position the drone was outputing back in as a gps input to allow me to do the actual work I am trying to do without gps or yaw issues....but now it seems I dont actually need to do that because the correct way - flow and rangefinder for alt without gps - is actualy working.
    Joel Fankam
    @joekrom
    @RoboBil Which process are you using to feed pozyx data to the drone ?
    RoboBil
    @RoboBil
    @joekrom I'm not sure about the process, but my POZYX/Arduino bundle is mounted .33 meters above and 0.1 meter ahead of the rover C.G. I have the @rmackay9 loiter sketch feeding the Pixhawk through Telem2. It all works really well especially after switching to EK3. But during pivot turns the trace makes a small arc. I'm hoping to reduce that and xtracking by inputting the position of the POZYX antenna.
    Randy Mackay
    @rmackay9
    @RoboBil, thanks for confirming that the pozyx system is still working! You are using Rover-4.1.0-dev? I'm afraid Beacon doesn't support setting the position of the sensor so I've created an issue: ArduPilot/ardupilot#14792. I can't promise when I (or someone else) will get to it though. It's not super difficult because we've done it for many other sensors.
    RoboBil
    @RoboBil
    @rmackay9 Yes I have the latest dev installed. Thanks for creating the 14792. Unless I missed it, one thing you might mention in your POZYX instructions is that your cartesian Y is down rather than up. Your layout had me baffled for months until my programmer daughter told me about the downward Y axis. All is good now in robot-land.
    Randy Mackay
    @rmackay9
    @RoboBil, ok thanks. Is it "Y" that's downwards or is it "Z"? I'd expect it to be Z actually.. It's been a while though and it's possible we made a mistake in the driver or the script
    RoboBil
    @RoboBil
    @rmackay9 Could be... and speaking of axis...Another thing I discovered to keep the axis "correct" is the tag should also be mounted vertically on your bot. This per where to place your anchors/tag page
    Randy Mackay
    @rmackay9
    I wonder if we should move this discussion over to a new "VisionProjects" channel in Discord (www.ardupilot.org/discord) . I'm not personally monitoring Gitter anymore except for this particular channel. Do @patrickpoirier51 and others have any opinion on this?
    patrickpoirier51
    @patrickpoirier51
    As they say...we've got to go with the flow
    RoboBil
    @RoboBil
    Sorry guys... I just didn't know where to post my question(s). I'm more than happy to switch to wherever you'all wish.
    patrickpoirier51
    @patrickpoirier51
    @rmackay9 Have you created the vision room on discord ?
    patrickpoirier51
    @patrickpoirier51
    Ok created
    Bye Bye Gitter, everyone's welcome to discord
    lightpathproject
    @lightpathproject
    Is there a link?
    Vinicius Juvinski
    @juvinski
    Joel Fankam
    @joekrom
    all right
    Bo Shang
    @cnpcshangbo
    It seems the discord invite is invalid now.
    Ian McElhenny
    @mcelhennyi
    ++, new discord link?
    Bo Shang
    @cnpcshangbo
    Yes.
    Vinicius Juvinski
    @juvinski
    Bo Shang
    @cnpcshangbo
    Thanks. It works.
    gauravshukla914
    @gauravshukla914
    Hi. Even this new link is invalid. Any other links? Can I still post my questions here?