VOXL 2 VOA not working

[Jetson Nano]

We are testing VOXL2 Collision avoidance with SDK 0.9.5.

VOXL Vision PX4 is enabled and running and along with it are the below functionalities enabled,

• VIO is renabled and running
• Position hold is working and stable when testing the drone
• DFS Server also enabled and running and voa_pc point cloud data can be visualised in VOXL Portal

-> en_voa is set to true in voxl-vision-px4 config.

Point cloud data is being published from voxl-dfs-server and can be seen in voxl-inspect-serices.

• We have accurately specified extrinsics relation for body to stereo in extrinsics.conf
• PX4 parmeters are set as per documentation,
• Distances can be viewed in debug_stereo_linescan as well as in obstacle distances in QGC which are fairly accurate.
  
  

dfs_disparity scale and voa_pc are both present in the VOXL portal.

Stereo sensors are calibrated as reprojection errors are under 0.2 but collision prevention is not working during flight during Position hold mode/Altitude mode.

@Chad-Sweet @Alex-Gardner

[Cliff Wong]

Hi there, do you have COM_OBS_AVOID=1 (enabled)? You can set the parameter directly (params) or there's a menu option in QGC.

If so, can you arm the drone? With *_AVOID=1 I suspect all will work as you are seeing obstacle_distance data on mavlink.
If not, then you should get a QGC report "Avoidance system not ready"--let us know which case you end up with.

[Jetson Nano]

@Cliff-Wong When I set COM_OBS_AVOID = 1 the system says it is not ready to fly, but I am not getting any messages as Avoidance System not ready