Global variable definitions for VOXL OpenVINS server. More...

#include "VoxlVars.h"
#include "VoxlCommon.h"
#include <atomic>
#include <memory>
#include <mutex>
#include <vector>
#include <string>
#include <cmath>
#include <algorithm>

Include dependency graph for VoxlVars.cpp:

Go to the source code of this file.

Functions
std::atomic< uint8_t >	vio_state (0)
	Current VIO state (initializing, tracking, etc.)

std::atomic< uint32_t >	vio_error_codes (0)
	VIO error codes.

std::atomic< bool >	reset_requested (false)
	Flag indicating that system should reset.

std::atomic< bool >	is_resetting (false)
	Flag indicating if system is currently resetting.

std::atomic< bool >	is_armed (false)
	Flag indicating if system is armed.

std::atomic< bool >	is_cam_connected (false)
	Flag indicating if camera is connected.

std::atomic< bool >	is_imu_connected (false)
	Flag indicating if IMU is connected.

std::atomic< double >	imu_rate_hz (1024.0)
	Estimated IMU sampling rate in Hz.

std::atomic< float >	alt_z (0.0f)
	Altitude z.

std::atomic< bool >	has_acc_jerk (false)
	Flag indicating if accelerometer jerk is detected.

std::atomic< bool >	has_gyro_jerk (false)
	Flag indicating if gyroscope jerk is detected.

std::atomic< bool >	non_static (false)
	Non-static flag for jerk detection.

std::atomic< float >	vel_mag (0.0f)
	Current velocity magnitude.

Variables
ov_msckf::VioManagerOptions	vio_manager_options
	VIO manager options.

std::unique_ptr< ov_msckf::VioManager >	vio_manager
	Main VIO manager instance.

volatile int	main_running = 1
	Main process running flag.

std::atomic< uint32_t >	reset_num_counter {0}
	Counter which increments on resets.

std::atomic< uint32_t >	active_callbacks {0}
	Number of callbacks inside the system.

std::mutex	reset_mtx
	Mutex used by reset thread.

std::condition_variable	reset_cv
	Reset conditional variable.

int	en_auto_reset = 0
	Enable automatic reset functionality.

float	auto_reset_max_velocity = 0.0f
	Maximum velocity threshold for auto reset.

float	auto_reset_max_v_cov_instant = 0.0f
	Maximum velocity covariance for instant reset.

float	auto_reset_max_v_cov = 0.0f
	Maximum velocity covariance for timeout reset.

float	auto_reset_max_v_cov_timeout_s = 0.0f
	Timeout duration for velocity covariance reset (seconds)

int	auto_reset_min_features = 0
	Minimum number of features for auto reset.

float	auto_reset_min_feature_timeout_s = 0.0f
	Minimum feature timeout for auto reset (seconds)

float	ok_state_grace_timeout_s = 3.0f
	Minimum amount of time after initialization that quality is held low (CEP)

float	auto_fallback_timeout_s = 0.0f
	Auto fallback timeout (seconds)

float	auto_fallback_min_v = 0.0f
	Minimum velocity for auto fallback.

bool	en_cont_yaw_checks = false
	Enable continuous yaw checks.

float	fast_yaw_thresh = 0.0f
	Fast yaw threshold.

float	fast_yaw_timeout_s = 0.0f
	Fast yaw timeout (seconds)

int	quality_low_thresh_initial = 15
	Quality low threshold for INITIAL state.

int	quality_low_thresh_good = 15
	Quality low threshold for GOOD state.

int	quality_high_thresh = 40
	Quality high threshold for recovery.

int	quality_initial_to_bad_count = 20
	Consecutive samples for INITIAL→BAD transition.

int	quality_initial_to_good_count = 50
	Consecutive samples for INITIAL→GOOD transition.

int	quality_bad_to_good_count = 50
	Consecutive samples for BAD→GOOD transition.

int	quality_good_to_bad_count = 45
	Consecutive samples for GOOD→BAD transition.

int	using_stereo = 0
	using_stereo

char	folder_base [CHAR_BUF_SIZE] = "/etc/modalai/VoxlConfig/starling2"
	Base folder for yaml configuration files.

int	en_debug = 0
	Enable debug output.

int	en_verbose = 0
	Enable verbose output.

int	config_only = 0
	Configuration only mode.

bool	en_imu_body = false
	Enable IMU body measurements.

char	imu_name [64]
	IMU device name.

imu_model_t	imu_model = IMU_MODEL_UNKNOWN
	Active IMU model.

std::vector< cam_info >	cam_info_vec
	Vector of camera configuration information.

volatile int64_t	last_imu_timestamp_ns = 0
	Timestamp of last IMU data (nanoseconds)

voxl::FrameTransform	frame_transform
	Global frame transform instance.

int	takeoff_cam = 0
	Takeoff camera identifier.

int	en_takeoff_cam = 0
	Enable takeoff camera functionality.

std::vector< int >	takeoff_cams
	Vector of takeoff camera identifiers.

volatile int64_t	last_cam_time = 0
	Timestamp of last camera data (nanoseconds)

int	cameras_used = 0
	Number of cameras currently in use.

float	takeoff_alt_threshold = 0.5f
	Takeoff altitude threshold.

bool	occlude_stereo_left = false
	Occlude stereo left.

bool	occlude_stereo_right = false
	Occlude stereo right.

float	fusion_rate_dt_ms = 20.0
	Fusion rate in milliseconds.

int	camera_pipe_channels [MAX_CAM_CNT] = {0}
	Camera pipe channels array.

voxl::img_ringbuf_packet *	img_ringbuf = nullptr
	Image ring buffer for processing.

bool	sync_config = true
	Flag to indicate if configuration synchronization is enabled.

double	window_size_s = 1.0
	Window size in seconds for jerk detection.

Detailed Description

Global variable definitions for VOXL OpenVINS server.

Author: Zauberflote

Date: 2025

Version: 1.0

This file contains the definitions of all global variables declared in VoxlVars.h. It provides the actual storage for system state, configuration parameters, and operational variables used throughout the VIO system.

Definition in file VoxlVars.cpp.

Function Documentation

◆ alt_z()

std::atomic< float > alt_z ( 0. 0f )

Altitude z.

◆ has_acc_jerk()

std::atomic< bool > has_acc_jerk ( false )

Flag indicating if accelerometer jerk is detected.

◆ has_gyro_jerk()

std::atomic< bool > has_gyro_jerk ( false )

Flag indicating if gyroscope jerk is detected.

◆ imu_rate_hz()

std::atomic< double > imu_rate_hz ( 1024. 0 )

Estimated IMU sampling rate in Hz.

◆ is_armed()

std::atomic< bool > is_armed ( false )

Flag indicating if system is armed.

◆ is_cam_connected()

std::atomic< bool > is_cam_connected ( false )

Flag indicating if camera is connected.

◆ is_imu_connected()

std::atomic< bool > is_imu_connected ( false )

Flag indicating if IMU is connected.

◆ is_resetting()

std::atomic< bool > is_resetting ( false )

Flag indicating if system is currently resetting.

◆ non_static()

std::atomic< bool > non_static ( false )

Non-static flag for jerk detection.

◆ reset_requested()

std::atomic< bool > reset_requested ( false )

Flag indicating that system should reset.

◆ vel_mag()

std::atomic< float > vel_mag ( 0. 0f )

Current velocity magnitude.

◆ vio_error_codes()

std::atomic< uint32_t > vio_error_codes ( 0 )

VIO error codes.

◆ vio_state()

std::atomic< uint8_t > vio_state ( 0 )

Current VIO state (initializing, tracking, etc.)

Variable Documentation

◆ active_callbacks

std::atomic<uint32_t> active_callbacks {0}

Number of callbacks inside the system.

Atomic counter for tracking the number of in-flight callbacks or operations currently being processed that need to be accounted for during reset.

Definition at line 56 of file VoxlVars.cpp.

Referenced by _imu_data_handler_cb(), voxl::MonoCamera::process_image(), and voxl::StereoCamera::process_image().

◆ auto_fallback_min_v

float auto_fallback_min_v = 0.0f

Minimum velocity for auto fallback.

Minimum velocity for auto-fallback.

Definition at line 105 of file VoxlVars.cpp.

Referenced by voxl::read_server_config().

◆ auto_fallback_timeout_s

float auto_fallback_timeout_s = 0.0f

Auto fallback timeout (seconds)

Timeout for auto-fallback mode.

Definition at line 102 of file VoxlVars.cpp.

Referenced by voxl::read_server_config().

◆ auto_reset_max_v_cov

float auto_reset_max_v_cov = 0.0f

Maximum velocity covariance for timeout reset.

Maximum velocity covariance for auto-reset.

Definition at line 87 of file VoxlVars.cpp.

Referenced by voxl::read_server_config().

◆ auto_reset_max_v_cov_instant

float auto_reset_max_v_cov_instant = 0.0f

Maximum velocity covariance for instant reset.

Maximum instantaneous velocity covariance for auto-reset.

Definition at line 84 of file VoxlVars.cpp.

Referenced by voxl::Publisher::publish(), voxl::read_server_config(), and voxl::Publisher::should_auto_reset().

◆ auto_reset_max_v_cov_timeout_s

float auto_reset_max_v_cov_timeout_s = 0.0f

Timeout duration for velocity covariance reset (seconds)

Timeout for velocity covariance auto-reset.

Definition at line 90 of file VoxlVars.cpp.

Referenced by voxl::Publisher::publish(), voxl::read_server_config(), and voxl::Publisher::should_auto_reset().

◆ auto_reset_max_velocity

float auto_reset_max_velocity = 0.0f

Maximum velocity threshold for auto reset.

Maximum velocity threshold for auto-reset.

Definition at line 81 of file VoxlVars.cpp.

Referenced by voxl::Publisher::publish(), voxl::read_server_config(), and voxl::Publisher::should_auto_reset().

◆ auto_reset_min_feature_timeout_s

float auto_reset_min_feature_timeout_s = 0.0f

Minimum feature timeout for auto reset (seconds)

Timeout for minimum features auto-reset.

Definition at line 96 of file VoxlVars.cpp.

Referenced by voxl::Publisher::publish(), voxl::read_server_config(), and voxl::Publisher::should_auto_reset().

◆ auto_reset_min_features

int auto_reset_min_features = 0

Minimum number of features for auto reset.

Minimum number of features for auto-reset.

Definition at line 93 of file VoxlVars.cpp.

Referenced by voxl::Publisher::publish(), voxl::read_server_config(), and voxl::Publisher::should_auto_reset().

◆ cam_info_vec

std::vector<cam_info> cam_info_vec

Vector of camera configuration information.

Camera information vector.

Definition at line 170 of file VoxlVars.cpp.

Referenced by voxl::sync_cam_config().

◆ camera_pipe_channels

int camera_pipe_channels[MAX_CAM_CNT] = {0}

Camera pipe channels array.

Camera pipe channel array.

Definition at line 224 of file VoxlVars.cpp.

◆ cameras_used

int cameras_used = 0

Number of cameras currently in use.

Count of cameras that are currently active and providing data to the VIO system.

Definition at line 202 of file VoxlVars.cpp.

◆ config_only

int config_only = 0

Configuration only mode.

Flag to enable configuration-only mode where the server only loads and validates configuration without starting the main processing loop.

Definition at line 154 of file VoxlVars.cpp.

Referenced by main().

◆ en_auto_reset

int en_auto_reset = 0

Enable automatic reset functionality.

Enable automatic VIO reset.

Definition at line 78 of file VoxlVars.cpp.

Referenced by voxl::read_server_config(), and voxl::Publisher::should_auto_reset().

◆ en_cont_yaw_checks

bool en_cont_yaw_checks = false

Enable continuous yaw checks.

Flag to enable continuous monitoring of yaw angle for stability and accuracy validation.

Definition at line 108 of file VoxlVars.cpp.

Referenced by voxl::read_server_config().

◆ en_debug

int en_debug = 0

Enable debug output.

Flag to enable detailed debug output and logging for development and troubleshooting.

Definition at line 148 of file VoxlVars.cpp.

Referenced by _imu_data_handler_cb(), voxl::HealthCheck::clearErrorCodes(), voxl::CameraBase::connect(), voxl::CameraBase::disconnect(), main(), voxl::MonoCamera::process_image(), voxl::Publisher::publish(), and voxl::Publisher::should_auto_reset().

◆ en_imu_body

bool en_imu_body = false

Enable IMU body measurements.

Flag to enable the use of IMU body measurements in the VIO system for enhanced state estimation.

Definition at line 157 of file VoxlVars.cpp.

Referenced by main(), voxl::read_server_config(), and voxl::sync_cam_config().

◆ en_takeoff_cam

int en_takeoff_cam = 0

Enable takeoff camera functionality.

Flag to enable special handling for the takeoff camera, including different processing parameters.

Definition at line 193 of file VoxlVars.cpp.

◆ en_verbose

int en_verbose = 0

Enable verbose output.

Flag to enable verbose logging and detailed status information for monitoring and debugging purposes.

Definition at line 151 of file VoxlVars.cpp.

Referenced by main(), and voxl::sync_cam_config().

◆ fast_yaw_thresh

float fast_yaw_thresh = 0.0f

Fast yaw threshold.

Threshold for detecting rapid yaw changes that may indicate tracking issues.

Definition at line 111 of file VoxlVars.cpp.

Referenced by voxl::Publisher::publish(), voxl::read_server_config(), and voxl::Publisher::should_auto_reset().

◆ fast_yaw_timeout_s

float fast_yaw_timeout_s = 0.0f

Fast yaw timeout (seconds)

Fast yaw timeout.

Definition at line 114 of file VoxlVars.cpp.

Referenced by voxl::Publisher::publish(), voxl::read_server_config(), and voxl::Publisher::should_auto_reset().

◆ folder_base

char folder_base[CHAR_BUF_SIZE] = "/etc/modalai/VoxlConfig/starling2"

Base folder for yaml configuration files.

Base folder for storing YAML configuration files for the VINS.

Definition at line 145 of file VoxlVars.cpp.

Referenced by main(), voxl::read_server_config(), and voxl::sync_cam_config().

◆ frame_transform

voxl::FrameTransform frame_transform

Global frame transform instance.

Global instance of the frame transform structure used for handling IMU frame transformations across the system.

Definition at line 183 of file VoxlVars.cpp.

Referenced by _imu_data_handler_cb(), and voxl::Publisher::publish().

◆ fusion_rate_dt_ms

float fusion_rate_dt_ms = 20.0

Fusion rate in milliseconds.

Time interval in milliseconds for the main fusion loop that processes and integrates sensor data.

Definition at line 217 of file VoxlVars.cpp.

Referenced by voxl::read_server_config().

◆ img_ringbuf

voxl::img_ringbuf_packet* img_ringbuf = nullptr

Image ring buffer for processing.

Image ring buffer pointer.

Definition at line 231 of file VoxlVars.cpp.

◆ imu_model

imu_model_t imu_model = IMU_MODEL_UNKNOWN

Active IMU model.

Active IMU model detected from pipe info JSON.

Definition at line 167 of file VoxlVars.cpp.

Referenced by _imu_data_handler_cb(), and voxl::sync_cam_config().

◆ imu_name

char imu_name[64]

IMU device name.

IMU service name.

Definition at line 164 of file VoxlVars.cpp.

Referenced by connect_imu_service(), and voxl::sync_cam_config().

◆ last_cam_time

volatile int64_t last_cam_time = 0

Timestamp of last camera data (nanoseconds)

Last camera timestamp.

Definition at line 199 of file VoxlVars.cpp.

Referenced by voxl::MonoCamera::process_image(), and voxl::StereoCamera::process_image().

◆ last_imu_timestamp_ns

volatile int64_t last_imu_timestamp_ns = 0

Timestamp of last IMU data (nanoseconds)

Last IMU timestamp in nanoseconds.

Definition at line 177 of file VoxlVars.cpp.

Referenced by _imu_data_handler_cb().

◆ main_running

volatile int main_running = 1

Main process running flag.

Main server running state.

Definition at line 38 of file VoxlVars.cpp.

Referenced by voxl::CameraBase::camera_callback(), and main().

◆ occlude_stereo_left

bool occlude_stereo_left = false

Occlude stereo left.

Definition at line 211 of file VoxlVars.cpp.

Referenced by voxl::read_server_config().

◆ occlude_stereo_right

bool occlude_stereo_right = false

Occlude stereo right.

Definition at line 214 of file VoxlVars.cpp.

Referenced by voxl::read_server_config().

◆ ok_state_grace_timeout_s

float ok_state_grace_timeout_s = 3.0f

Minimum amount of time after initialization that quality is held low (CEP)

Grace period timeout after entering OK state.

Definition at line 99 of file VoxlVars.cpp.

Referenced by voxl::Publisher::publish(), and voxl::read_server_config().

◆ quality_bad_to_good_count

int quality_bad_to_good_count = 50

Consecutive samples for BAD→GOOD transition.

Number of consecutive samples with quality above high threshold required to transition from BAD to GOOD state.

Definition at line 136 of file VoxlVars.cpp.

Referenced by voxl::Publisher::publish(), and voxl::read_server_config().

◆ quality_good_to_bad_count

int quality_good_to_bad_count = 45

Consecutive samples for GOOD→BAD transition.

Number of consecutive samples with quality below low threshold required to transition from GOOD to BAD state.

Definition at line 139 of file VoxlVars.cpp.

Referenced by voxl::Publisher::publish(), and voxl::read_server_config().

◆ quality_high_thresh

int quality_high_thresh = 40

Quality high threshold for recovery.

Quality threshold above which recovery is detected. Used for transitions from INITIAL→GOOD and BAD→GOOD states.

Definition at line 127 of file VoxlVars.cpp.

Referenced by voxl::Publisher::publish(), and voxl::read_server_config().

◆ quality_initial_to_bad_count

int quality_initial_to_bad_count = 20

Consecutive samples for INITIAL→BAD transition.

Number of consecutive samples with quality below low threshold required to transition from INITIAL to BAD state.

Definition at line 130 of file VoxlVars.cpp.

Referenced by voxl::Publisher::publish(), and voxl::read_server_config().

◆ quality_initial_to_good_count

int quality_initial_to_good_count = 50

Consecutive samples for INITIAL→GOOD transition.

Number of consecutive samples with quality above high threshold required to transition from INITIAL to GOOD state.

Definition at line 133 of file VoxlVars.cpp.

Referenced by voxl::Publisher::publish(), and voxl::read_server_config().

◆ quality_low_thresh_good

int quality_low_thresh_good = 15

Quality low threshold for GOOD state.

Quality threshold below which degradation is detected in GOOD state. When quality drops to or below this value, consecutive sample counter increments.

Definition at line 124 of file VoxlVars.cpp.

Referenced by voxl::Publisher::publish(), and voxl::read_server_config().

◆ quality_low_thresh_initial

int quality_low_thresh_initial = 15

Quality low threshold for INITIAL state.

Quality threshold below which degradation is detected in INITIAL state. When quality drops to or below this value, consecutive sample counter increments.

Definition at line 121 of file VoxlVars.cpp.

Referenced by voxl::Publisher::publish(), and voxl::read_server_config().

◆ reset_cv

std::condition_variable reset_cv

Reset conditional variable.

Condition variable used to synchronize reset operations, the reset thread will wait on active_callbacks to reach zero before proceeding.

Definition at line 62 of file VoxlVars.cpp.

Referenced by _imu_data_handler_cb(), voxl::MonoCamera::process_image(), and voxl::StereoCamera::process_image().

◆ reset_mtx

std::mutex reset_mtx

Mutex used by reset thread.

Mutex for reset.

Definition at line 59 of file VoxlVars.cpp.

Referenced by _imu_data_handler_cb(), voxl::MonoCamera::process_image(), and voxl::StereoCamera::process_image().

◆ reset_num_counter

std::atomic<uint32_t> reset_num_counter {0}

Counter which increments on resets.

The counter is used to track the number of resets that have occurred. This can be useful for debugging, logging, and ensuring that reset operations are being performed as expected.

Definition at line 53 of file VoxlVars.cpp.

Referenced by voxl::Publisher::publish(), and voxl::Publisher::should_auto_reset().

◆ sync_config

bool sync_config = true

Flag to indicate if configuration synchronization is enabled.

Definition at line 233 of file VoxlVars.cpp.

Referenced by voxl::read_server_config(), and voxl::sync_cam_config().

◆ takeoff_alt_threshold

float takeoff_alt_threshold = 0.5f

Takeoff altitude threshold.

Definition at line 208 of file VoxlVars.cpp.

Referenced by voxl::read_server_config().

◆ takeoff_cam

int takeoff_cam = 0

Takeoff camera identifier.

Identifier for the camera used during takeoff and initial flight phases.

Definition at line 190 of file VoxlVars.cpp.

Referenced by voxl::sync_cam_config().

◆ takeoff_cams

std::vector<int> takeoff_cams

Vector of takeoff camera identifiers.

Vector containing identifiers for all cameras that should be used during takeoff.

Definition at line 196 of file VoxlVars.cpp.

Referenced by voxl::sync_cam_config().

◆ using_stereo

int using_stereo = 0

using_stereo

Using stereo camera configuration.

Definition at line 142 of file VoxlVars.cpp.

Referenced by voxl::read_server_config(), and voxl::sync_cam_config().

◆ vio_manager

std::unique_ptr<ov_msckf::VioManager> vio_manager

Main VIO manager instance.

Global VIO manager instance.

Definition at line 31 of file VoxlVars.cpp.

Referenced by _imu_data_handler_cb(), main(), voxl::MonoCamera::process_image(), and voxl::Publisher::publish().

◆ vio_manager_options

ov_msckf::VioManagerOptions vio_manager_options

VIO manager options.

Options for configuring the VIO manager instance. This includes settings for state initialization, estimator options, and other operational parameters.

Definition at line 28 of file VoxlVars.cpp.

Referenced by main().

◆ window_size_s

double window_size_s = 1.0

Window size in seconds for jerk detection.

Time window in seconds used for detecting jerks in accelerometer and gyroscope data.

Definition at line 437 of file VoxlVars.cpp.

Functions

Variables

Detailed Description

Function Documentation

◆ alt_z()

◆ has_acc_jerk()

◆ has_gyro_jerk()

◆ imu_rate_hz()

◆ is_armed()

◆ is_cam_connected()

◆ is_imu_connected()

◆ is_resetting()

◆ non_static()

◆ reset_requested()

◆ vel_mag()

◆ vio_error_codes()

◆ vio_state()

Variable Documentation

◆ active_callbacks

◆ auto_fallback_min_v

◆ auto_fallback_timeout_s

◆ auto_reset_max_v_cov

◆ auto_reset_max_v_cov_instant

◆ auto_reset_max_v_cov_timeout_s

◆ auto_reset_max_velocity

◆ auto_reset_min_feature_timeout_s

◆ auto_reset_min_features

◆ cam_info_vec

◆ camera_pipe_channels

◆ cameras_used

◆ config_only

◆ en_auto_reset

◆ en_cont_yaw_checks

◆ en_debug

◆ en_imu_body

◆ en_takeoff_cam

◆ en_verbose

◆ fast_yaw_thresh

◆ fast_yaw_timeout_s

◆ folder_base

◆ frame_transform

◆ fusion_rate_dt_ms

◆ img_ringbuf

◆ imu_model

◆ imu_name

◆ last_cam_time

◆ last_imu_timestamp_ns

◆ main_running

◆ occlude_stereo_left

◆ occlude_stereo_right

◆ ok_state_grace_timeout_s

◆ quality_bad_to_good_count

◆ quality_good_to_bad_count

◆ quality_high_thresh

◆ quality_initial_to_bad_count

◆ quality_initial_to_good_count

◆ quality_low_thresh_good

◆ quality_low_thresh_initial

◆ reset_cv

◆ reset_mtx

◆ reset_num_counter

◆ sync_config

◆ takeoff_alt_threshold

◆ takeoff_cam

◆ takeoff_cams

◆ using_stereo

◆ vio_manager

◆ vio_manager_options

◆ window_size_s