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    VOA not working with ToF

    Starling & Starling 2
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    • Jetson NanoJ
      Jetson Nano
      last edited by

      I am trying to do voa in a starling drone which has a ToF, I have enabled voa and also set it to use ToF, but still collision prevention is not working for me, And also I am not getting the obstacle distance messages in QGC

      Jetson NanoJ 1 Reply Last reply Reply Quote 0
      • Jetson NanoJ
        Jetson Nano @Jetson Nano
        last edited by

        @tom @Chad-Sweet @Eric-Katzfey Waiting for a response from your side!

        Alex KushleyevA 1 Reply Last reply Reply Quote 0
        • Alex KushleyevA
          Alex Kushleyev ModalAI Team @Jetson Nano
          last edited by

          @Jetson-Nano , can you please provide some additional information:

          • are you using VOXL1 or VOXL2?
          • which VOXL SDK are you using?
          • have you verified that TOF sensor is functional (you can do it using voxl-portal (cameras or point clouds tab)
          • how are you enabling / configuring VOA?
          • have you verified that VOA is running and not producing any error messages?

          Thank you

          Jetson NanoJ 1 Reply Last reply Reply Quote 0
          • Jetson NanoJ
            Jetson Nano @Alex Kushleyev
            last edited by

            @Alex-Kushleyev

            1. we are using voxl 2
            2. SDK version: 1.1.1
            3. TOF is functional [working in portal and mapper]
            4. Followed the steps in https://docs.modalai.com/voxl-vision-px4-collision-prevention-0_9/ with the following parameters
              CP_DIST: 1.5
              CP_DELAY: 0.0
              CP_GUIDE_ANG: 0.0
              CP_GO_NO_DATA: 1
              and en_send_voa_to_qgc in voxl-vision-hub.conf is enabled.
            5. Yes we can see the VOA point cloud on the portal and running voxl-vision-hub -s shows the distances in line on the terminal.
              We verified the distance values and they are accurate but the drone doesn't stop on its own even when we go really slowly at a fixed obstacle under 1.5m
            ModeratorM 1 Reply Last reply Reply Quote 0
            • ModeratorM
              Moderator ModalAI Team @Jetson Nano
              last edited by

              @Jetson-Nano Looks like MPC_POS_MODE is needed as well per the documentation https://docs.px4.io/main/en/computer_vision/collision_prevention.html

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