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    VOXL 2 VOA not working

    VOXL 2
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    • J
      Jetson Nano
      last edited by Jetson Nano 17 Nov 2023, 08:11 17 Nov 2023, 08:10

      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.
      inspect-services.png

      • 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.
        voa_linescan.png
        QGC.png

      dfs_disparity scale and voa_pc are both present in the VOXL portal.
      Screenshot from 2023-11-17 12-34-08.png

      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

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      • C
        Cliff Wong ModalAI Team
        last edited by Cliff Wong 18 Nov 2023, 00:59 18 Nov 2023, 00:59

        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.

        J 1 Reply Last reply 18 Nov 2023, 06:36 Reply Quote 0
        • J
          Jetson Nano @Cliff Wong
          last edited by 18 Nov 2023, 06:36

          @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

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