avoidance collision prevention disabled

tom

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

AP123

@tom No data is coming through. I tried messing with QGC IP in /etc/modalai/voxl-vision-px4.conf. But didn't work. Where can i find that value just to verify i changed it correctly? Also, could there be another reason data is not coming in?

tom

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

AP123

@tom

nope nothing

tom

@AP123 What about the "stereo" one itself?

AP123

@tom yes i have camera feed there

AP123

@tom ok, i am getting data now from all off them! Although the avoidance system is still not working

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

AP123

@tom The data is flowing properly but QGC is still saying Not Ready, and Avoidance system not ready. What else can i do?

tom

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

AP123

@tom it does not, I'm trying to read errors in the log but there are so many and none say anything relating to avoidance system.

tom

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

AP123

@tom custom setup. I have calibrated the front stereo but the rear is giving me issues could that be why?

tom

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

AP123

@tom Thank you i will take a look at that today. The error i am getting the most in the logs is this one

[E] at qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42 - "qrc:/qml/QGroundControl/FlightDisplay/ObstacleDistanceOverlayMap.qml:42: Error: createRadialGradient(): Incorrect arguments"

Is that something to do with the avoidance system?

Thank you

AP123

@tom hey tom when i send voxl-inspect-points tof_pc to the voxl the output is only waiting for server at /run/mpa/tof_pc/
no data is seen, is this the issue?

AP123

@tom i discovered if there are objects in the surrounding of the drone object avoidance reads disabled, yet if it is in open space it reads error.

tom

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

AP123

@tom Both brand new voxl 2 units from you guys 1 with SDK 0.9.5 and 1 with SDK 1.0.0 are both saying avoidance system not ready, one of your engineers must have encountered this before.

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.