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    avoidance collision prevention disabled

    VOXL 2
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    • A
      AP123 @tom
      last edited by 9 Nov 2023, 22:44

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

      T 1 Reply Last reply 9 Nov 2023, 23:04 Reply Quote 0
      • T
        tom admin @AP123
        last edited by 9 Nov 2023, 23:04

        @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

        A 1 Reply Last reply 10 Nov 2023, 14:37 Reply Quote 0
        • A
          AP123 @tom
          last edited by 10 Nov 2023, 14:37

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

          T 1 Reply Last reply 10 Nov 2023, 17:40 Reply Quote 0
          • T
            tom admin @AP123
            last edited by 10 Nov 2023, 17:40

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

            A 1 Reply Last reply 10 Nov 2023, 21:11 Reply Quote 0
            • A
              AP123 @tom
              last edited by 10 Nov 2023, 21:11

              @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.

              T 1 Reply Last reply 10 Nov 2023, 22:23 Reply Quote 0
              • T
                tom admin @AP123
                last edited by 10 Nov 2023, 22:23

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

                A 1 Reply Last reply 10 Nov 2023, 22:39 Reply Quote 0
                • A
                  AP123 @tom
                  last edited by 10 Nov 2023, 22:39

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

                  T 1 Reply Last reply 10 Nov 2023, 22:47 Reply Quote 0
                  • T
                    tom admin @AP123
                    last edited by 10 Nov 2023, 22:47

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

                    A 3 Replies Last reply 13 Nov 2023, 14:05 Reply Quote 0
                    • A
                      AP123 @tom
                      last edited by 13 Nov 2023, 14:05

                      @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

                      1 Reply Last reply Reply Quote 0
                      • A
                        AP123 @tom
                        last edited by 13 Nov 2023, 15:10

                        @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?

                        1 Reply Last reply Reply Quote 0
                        • A
                          AP123 @tom
                          last edited by 13 Nov 2023, 15:46

                          @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.

                          T 1 Reply Last reply 13 Nov 2023, 19:32 Reply Quote 0
                          • T
                            tom admin @AP123
                            last edited by 13 Nov 2023, 19:32

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

                            A 1 Reply Last reply 13 Nov 2023, 20:57 Reply Quote 0
                            • A
                              AP123 @tom
                              last edited by 13 Nov 2023, 20:57

                              @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.

                              C 1 Reply Last reply 13 Nov 2023, 23:48 Reply Quote 0
                              • C
                                Cliff Wong ModalAI Team @AP123
                                last edited by 13 Nov 2023, 23:48

                                @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.

                                A 1 Reply Last reply 14 Nov 2023, 14:34 Reply Quote 0
                                • A
                                  AP123 @Cliff Wong
                                  last edited by AP123 14 Nov 2023, 14:35 14 Nov 2023, 14:34

                                  @Cliff-Wong said in avoidance collision prevention disabled:

                                  voxl-inspect-points voa_pc_out

                                  Thank you Cliff for your support, everything is set properly and i am getting data from oxl-inspect-points voa_pc_out.Screenshot from 2023-11-14 09-30-40.png

                                  Screenshot from 2023-11-14 09-32-58.png Screenshot from 2023-11-14 09-34-15.png

                                  Isn't home position set once i arm the drone? How can i do that if it wont let me arm it?

                                  T 1 Reply Last reply 14 Nov 2023, 17:31 Reply Quote 0
                                  • T
                                    tom admin @AP123
                                    last edited by 14 Nov 2023, 17:31

                                    @AP123 We just released SDK 1.1 yesterday which contains a few months worth of bug fixes, I would recommend loading that and seeing if your issue is resolved

                                    A 1 Reply Last reply 14 Nov 2023, 19:06 Reply Quote 0
                                    • A
                                      AP123 @tom
                                      last edited by 14 Nov 2023, 19:06

                                      @tom is it compatible with the PWM board 0065?

                                      T 1 Reply Last reply 14 Nov 2023, 19:10 Reply Quote 0
                                      • T
                                        tom admin @AP123
                                        last edited by 14 Nov 2023, 19:10

                                        @AP123 No, didn't realize you were tackling that as well. M0065 PWM support will be in SDK 1.1.1 and we're actively polishing / testing that release and hope to have it out in the next couple weeks

                                        A 1 Reply Last reply 14 Nov 2023, 19:30 Reply Quote 0
                                        • A
                                          AP123 @tom
                                          last edited by 14 Nov 2023, 19:30

                                          @tom Yes i was having a bit of an issue with the ESC 4 in 1 so i stuck to the 0.9.5 SDK and PWM board. Does 1.1.0 address any ESC 4 in 1 issues?

                                          T 1 Reply Last reply 14 Nov 2023, 19:44 Reply Quote 0
                                          • T
                                            tom admin @AP123
                                            last edited by 14 Nov 2023, 19:44

                                            @AP123 We don't have any known issues with the 4 in 1 escs. If you have an issue can you open a new thread?

                                            A 1 Reply Last reply 14 Nov 2023, 21:21 Reply Quote 0
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