# VOA in QGC

Source: https://forum.modalai.com/topic/1100/voa-in-qgc
Category: General Questions (https://forum.modalai.com/category/2/general-questions)
Posted: 2022-07-08 15:29:07 UTC by howard
Replies: 6 · Views: 1364

## howard · 2022-07-08 15:29:07 UTC

hello,
I have a voxl cam and I configured everything needed for voa and verified the parameters in QGC but still QGC shows collision prevention is disabled , how to solve the problem?
Thanks

## Reply by Adrian Hidalgo (ModalAI staff) · 2022-07-08 17:32:39 UTC

@keil do you mind giving us more details? What have you already loaded? Where is QGC saying collision prevention disabled? 

Usually, with voa enabled & running, voa parameters loaded in QGC, you can fly around in position flight mode & it'll prevent itself from running into anything ~1.5m unless that was edited. Only when it detects a potential collision will QGC say collision avoidance

## Reply by howard · 2022-07-09 02:58:10 UTC (in reply to Adrian Hidalgo)

@Adrian-Hidalgo I have loaded indoor ekf parameters and set CP_DIST to 2.In the main screen it says colission prevention disabled.

## Reply by Adrian Hidalgo (ModalAI staff) · 2022-07-11 18:09:01 UTC

@keil Can you post a screen shot of 
```
voxl-inspect-services
```
as well as the CP_DIST page?

What system image/ voxl-suite are you running on the VOXL-CAM?

Just to ascertain, would you have already loaded the collision parameters from px4?
Have any safeties in QGC been added? Thinking that if any of the defaults were changed, could be causing issues with VOA.
@Jeremy-Schmidt or @James-Strawson  any other pointers you can think of?

## Reply by howard · 2022-07-12 05:39:47 UTC (in reply to Adrian Hidalgo)

@Adrian-Hidalgo 
Here are the screenshots ,
![Screenshot from 2022-07-12 10-49-02.png](https://forum.modalai.com/assets/uploads/files/1657604114730-screenshot-from-2022-07-12-10-49-02.png) 
![Screenshot from 2022-07-12 11-06-36.png](https://forum.modalai.com/assets/uploads/files/1657604240987-screenshot-from-2022-07-12-11-06-36.png) 
![unnamed.png](https://forum.modalai.com/assets/uploads/files/1657604312914-unnamed.png) 

Only Collision prevention and RC loss failure safety have been enabled in QGC.
Thank you

## Reply by Guest · 2022-07-12 17:45:50 UTC

Hi Keil,

It looks like ```voxl-dfs-server``` is disabled, so not depth data is getting sent to VVPX4 (and thus qgc). Enabling and starting this service should provide depth data to the VOA manager.

## Reply by howard · 2022-07-12 18:05:44 UTC (in reply to Guest)

@Alex-Gardner okay, will try enabling dfs server
Thank you