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intel-aero / meta-intel-aero

Yocto layer to support Intel Aero platform
https://github.com/intel-aero/meta-intel-aero
GNU General Public License v2.0
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Optical Flow active but not working #372

Open rr2-ip opened 6 years ago

rr2-ip commented 6 years ago

Hi, I've installed a LeddarOne rangefinder on my Intel RTF drone and I am having trouble getting the optical flow to work.

I can see the raw distance measurements under the DISTANCE_SENSOR topic in the MAVLink Inspector of QGroundControl. When optical flow is active and I check the status, I see messages as shown in the attached picture. 38264014_10215595834465260_2434396663192748032_n

Does anyone have experience in resolving this issue?

FYI:aero-get-version.py returns: BIOS_VERSION = Aero-01.00.13 OS_VERSION = Ubuntu 16.04.5 LTS" AIRMAP_VERSION = unknown FPGA_VERSION = 0xc2 AeroFC firmware version = 1.8.0

zehortigoza commented 6 years ago

The "Number of good matches: x, desired: y" means that the floor don't have enough texture to optical flow to work, this also happens in a floor with good texture but the drone is still too close to the ground. Try to hand-held it at 0.5m and check if this messages continue to be printed, best way to check the messages is stop the aero-optical-flow service and start it manually.

About the "FPS below minimum, actual=X minimum=70" if this happens just in the first seconds it is okay otherwise it is a problem, I guess @broody had found this problem too maybe he can help.

rr2-ip commented 6 years ago

Thanks for the prompt reply.

Upon lifting the drone off of the desk (about 0.5m from the ground), after a small delay, the terminal shows the following:

38009500_10215601525927543_3845817972874543104_n

Once I put the drone back on the desk, the output remains the same until optical flow is restarted manually.

Do you know what could be causing this @zehortigoza or @broody ?

zehortigoza commented 6 years ago

Run by hand ./aero-optical-flow this way you can see all the messages not only the last ones.

Check the optical-flow quality as explained here https://github.com/intel-aero/aero-optical-flow/blob/master/README.md but I guess your floor don't have enough texture to run optical-flow with aero camera.

rr2-ip commented 6 years ago

Quality is around 180-190. Here is my floor - Would you expect it to work on this floor?

38297887_10215601900816915_8478489012531625984_n

When running a continuous optical flow stream in the terminal, I see the image in my first post being repeated. When lifted off the ground, I see a continuous stream of FPS below minimum (as in the image in my second post).

rr2-ip commented 6 years ago

I might also add that when the drone is moved somewhat rapidly, I get: [Debug] Camera timeout, restarting...

zehortigoza commented 6 years ago

This is also normal: [Debug] Camera timeout, restarting...

If it stays consistently with this quality around 180-190 it should work. Just to make sure, confirm that you set 2 parameters: EKF2_AID_MASK and EKF2_HGT_MODE.

What happens after you set the position mode?

rr2-ip commented 6 years ago

Yes the quality is consistent. I have set the following parameters: EKF2_AID_MASK = 2 EKF2_HGT_MODE = Range Sensor (We're not using GPS - GPS antenna is disconnected)

Do you mean setting position mode on the remote controller?

rr2-ip commented 6 years ago

When I put the drone in position mode I get an error in QGC: REJECT POSITION CONTROL

zehortigoza commented 6 years ago

Everything looks okay, I would try to fly in altitude to verify leddar one readings. If altitude mode works I suggest you to add debug messages in PX4 code to get the reason why it is being rejected, maybe this changes would be accept upstream if done right.

rr2-ip commented 6 years ago

Ok I'll give that a go. How do I add debug messages to the PX4 code?

rr2-ip commented 6 years ago

Hi @zehortigoza , I've been doing some test flying. Distance sensor is working and visible in QGC. Still receiving REJECT POSITION CONTROL error upon entering position flight mode. Can't take off in altitude mode even at full throttle - motors still arm and there are no error messages in this mode whatsoever.

gzmolvr commented 6 years ago

I have the same exact issue. Distance shows correct values in QGC. Always get REJECT POSITION CONTROL. No take off in height mode. Manual mode works fine.

zehortigoza commented 6 years ago

Looks like there is some regression in PX4, I can't check this in the next few weeks. Maybe open a issue in PX4, some other PX4 developer could check that. Or try with older releases, I had it working really well(https://www.youtube.com/watch?v=sMrkOJoF-jM) in PX4 1.6~1.7.

rr2-ip commented 6 years ago

All other problems are secondary to the fact that I receive [Error] FPS below minimum when running aero-optical-flow. This error is present on PX4 v1.6.5, 1.7.3 and 1.8.0, even after adding the LeddarOne driver (which does not show up in QGC on versions prior to 1.8.0).

zehortigoza commented 6 years ago

Check the aero-optical-flow output if this message shows up like one at each 10seconds it should still be okay, the optical-flow is still calculated even when getting this error but quality can go down.

rr2-ip commented 6 years ago

I get the error around 10 times per second. The quality appears to be consistently above 100. The drone is still rejecting position control.

geetesh commented 6 years ago

I have the same issue i.e. reject position, I am using benewake tfmini, on latest px4 build as of Aug 23rd 2018. I know tfmini has issues at less than 30cm altitude so I climb upto a meter, after some settling time, then switch to altitude hold. Which is okayish, it oscillates up and down a bit. Then position mode is always rejected 😬