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    Thien Nguyen
    @thien94
    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?
    e-mendes
    @e-mendes
    Luis Vale Gonçalves
    @lvale
    Hi there, more and more discussion is moving to discord so you are all invited to join us over there! https://ardupilot.org/discord
    alikarimiyazdi
    @alikarimiyazdi
    Hi. I have a pixy1, pixymon v1.0.2 software and IR Lock firmware v1.0.3. I tested my pixy I2C and SPI interfaces with arduino and it’s ok. But when I connect it to my pixhawk2 cube and set parameters (In mission Planner : “PLND_ENABLED = 1”,“PLND_TYPE = 2” In Pixymon: “outport =1”,“Restore default parameter values”) Mission planner says “Bad Vision Position”. I tested my pixy with different copter versions like Copter v4.0.3 Hexa frame and Copter v3.6.11 Quadcopter frame. Also I changed PLND_BUS parameter to 1 and -1 in both states. I tested it with three different pixhawk2 cube but in all cases i had “Bad Vision Position” on HUD. :frowning:
    What Can I do else? any idea?
    lgh5054
    @lgh5054
    Hello.
    Is there any way to use the loiter with t256 when entering the indoor shading area after using gps from outside?
    Andrea Belloni
    @anbello
    Hello
    For now there is a PR from @rmackay9 for manual switching between GPS and T265 (ArduPilot/ardupilot#14803)
    Andrea Belloni
    @anbello
    Then, I think, next step will be to switch on the base of values that indicate the data from GPS has degraded, from GPS: GPS.HDop, GPA.HAcc, GPA.Vacc and / or from EKF: XKF4.SV, XKF4.SP ...
    But this is only free thinking i am not an expert.
    Anyway now all this discussions are moved to discord https://ardupilot.org/discord
    lgh5054
    @lgh5054
    @anbello Thanks !
    Fahad1994-coder
    @Fahad1994-coder
    Hello everyone can someone guide me on how to build Navio2 computer vision system that detect object to deliver payload. pls give guideline in hardware and coding if its possible!
    Huibean Luo
    @Huibean
    has anyone get numba working on rpi4?
    Huibean Luo
    @Huibean
    Hi @thien94 can your script https://github.com/thien94/vision_to_mavros/blob/master/scripts/d4xx_to_mavlink.py running on RPI4? trying to test it
    DeafMic
    @DeafMic

    Hi everyone. I am currently using RealSense t265 in combination with Nvidia TX2 (Auvidea j120 board) for precision landing on an AprilTag. There is currently a persistent issue with the camera starting to randomly spit NaNs for its odometry (camera_pose_frame). As a result, the transform can not be calculated. It never happens while the drone is in the air, however, when it is left on the ground stationary the issue arises. Restarting the camera node or unplugging the camera USB helps until the next randomly timed error. librealsense v2.36.0 is installed. Could be a faulty unit, however, I`ve seen other people having it with no clear solution to the problem.

    If anyone had a similar issue, I`d appreciate any help, as well as provide any additional information.

    Thanks in advance!

    Jaime Machuca
    @jmachuca77
    If the camera is pointing down and you are too close to the ground this is likely to happen as there will not be enough “texture” in the image to calculate a pose and it will loose track.