avoidance collision prevention disabled

tom

@AP123 And when you view them , data is coming through correctly?

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tom

@AP123 In portal you aren't seeing anything when you select "Stereo Front Disparity" for example?

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tom

@AP123 What about the "stereo" one itself?

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tom

@AP123 might be worth trying this to see if the voxl-vision-px4 is handling the avoidance data correctly: https://docs.modalai.com/voxl-vision-px4-collision-prevention-0_9/#debugging-collision-prevention

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tom

@AP123 When you click on Not Ready does it give you any more info?

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tom

@AP123 What hardware setup are you using? One of our drones or a custom setup?

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tom

@AP123 It's possible, I would take a look here as well for some relevant info: https://docs.modalai.com/configure-extrinsics/

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tom

@AP123 I'm at the end of my personal knowledge with VOA, I'll see if I can tag someone in

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Cliff Wong

@AP123 Hey there. Are you running VOA against a stereo camera pair or via a ToF sensor?

If you run voxl-inspect-points voa_pc_out and see data, then the voxl2 SDK services are good and generating the correct mavlink obstacle distance points to PX4. If not then there's a configuration issue.

If that is good, then you need to make sure PX4 has
MPC_POS_MODE = Simple pos control or smooth pos control, COM_OBS_AVOID is enabled, CP_DIST > 0 (e.g. 2) and you must have an established home position (or good position from qvio if that is the case). Typically an "obstacle system not ready" is due to the MPC_POS_MODE (I think we default to acceleration-based input).

If all those check out, then it's likely missing a home position requirement in PX4 & not voxl, and we'll need to look that up.