# Sentinel VOA software not available Source: https://forum.modalai.com/topic/1301/sentinel-voa-software-not-available Category: Development Drones (https://forum.modalai.com/category/44/development-drones) Tags: sentinel Posted: 2022-09-06 20:11:42 UTC by mkwan Replies: 5 · Views: 1846 ## mkwan · 2022-09-06 20:11:42 UTC Hello, My Sentinel drone is not outputting valid VOA measurements. I have enabled `voxl-dfs-server`, and I can see correct point clouds from `stereo_front_pc` and `stereo_rear_pc` using voxl-portal. I can also see correct `stereo_front_disparity` and `stereo_rear_disparity`. I have set en_voa to true, and en_send_voa_to_qgc to true, and I can see OBSTACLE_DISTANCE messages in QGC but they are all 1001 when max_distance is 1000. This is the list of items in /run/mpa: ``` text cpu_monitor qvio_extended stereo_front_pc tracking vvpx4_fixed_pose_input hires qvio_overlay stereo_rear voa_pc_out vvpx4_gps_raw_int imu_apps stereo_front stereo_rear_disparity vvpx4_body_wrt_fixed vvpx4_mavlink_io mavlink_to_px4 stereo_front_disparity stereo_rear_disparity_scaled vvpx4_body_wrt_local vvpx4_sys_status qvio stereo_front_disparity_scaled stereo_rear_pc vvpx4_control_input vvpx4_vehicle_gps ``` The command `voxl-inspect-points voa_pc_out` returns no data: ``` text timestamp(ms)| # points | # bytes | 1st point | Format ``` According to the documentation at https://docs.modalai.com/sentinel-user-guide-using-voa/, I should be able to run * `voxl-voa-server-configure` * `voxl-voa-to-px4` * `voxl-voa-client` but none of these commands are available. ``` -bash: voxl-voa-server-configure: command not found ``` Here is my version: ``` root@qrb5165-rb5:/run/mpa# voxl-version -------------------------------------------------------------------------------- system-image: 1.2.1-M0054-14.1a-perf kernel: #1 SMP PREEMPT Mon Apr 18 20:36:27 UTC 2022 4.19.125 -------------------------------------------------------------------------------- hw version: M0054 -------------------------------------------------------------------------------- voxl-suite: 0.7.0 -------------------------------------------------------------------------------- ``` Here is my `voxl-inspect-services` ``` root@qrb5165-rb5:/run/mpa# voxl-inspect-services Service Name | Enabled | Running | CPU Usage --------------------------------------------------------------- docker-autorun | Disabled | Not Running | docker-daemon | Disabled | Not Running | modallink-relink | Disabled | Not Running | voxl-camera-server | Enabled | Running | 83.3 voxl-cpu-monitor | Enabled | Running | 0.0 voxl-dfs-server | Enabled | Running | 144.4 voxl-imu-server | Enabled | Running | 0.0 voxl-mavlink-server | Enabled | Running | 0.0 voxl-modem | Enabled | Not Running | voxl-portal | Enabled | Running | 0.0 voxl-px4-imu-server | Disabled | Not Running | voxl-px4 | Enabled | Running | 0.0 voxl-qvio-server | Enabled | Running | 44.4 voxl-static-ip | Disabled | Not Running | voxl-streamer | Enabled | Running | 22.2 voxl-tag-detector | Disabled | Not Running | voxl-tflite-server | Disabled | Not Running | voxl-time-sync | Disabled | Not Running | voxl-vision-px4 | Enabled | Running | 0.0 voxl-wait-for-fs | Enabled | Completed | ``` Am I missing something to get Sentinel's VOA to run? Thanks! ## Reply by Guest · 2022-09-07 21:43:40 UTC Hi, Sorry but that page seems to have been erroneously uploaded, it's completely wrong. For sentinel VOA you should follow the normal collision prevention with voxl-vision-px4 [page](https://docs.modalai.com/voxl-vision-px4-collision-prevention/). ## Reply by mkwan · 2022-09-08 14:53:01 UTC @mkwan said in [Sentinel VOA software not available](/post/6127): > I have enabled `voxl-dfs-server`, and I can see correct point clouds from `stereo_front_pc` and `stereo_rear_pc` using voxl-portal. I can also see correct `stereo_front_disparity` and `stereo_rear_disparity`. > > I have set en_voa to true, and en_send_voa_to_qgc to true, and I can see OBSTACLE_DISTANCE messages in QGC but they are all 1001 when max_distance is 1000. > Hi @Alex-Gardner, thanks for looking into this. Does this setup look correct? This should cover the steps listed in [voxl-vision-px4](https://docs.modalai.com/voxl-vision-px4-collision-prevention/). Do you think it is because the Sentinel has two stereo cams, ie stereo_front and stereo_rear, instead of a body->stereo_ tf? Is the voxl-version the Sentinel shipped with equipped to handle voa with multiple input streams? `voxl-suite: 0.7.0` `voxl-inspect-extrinsics`: ``` #5: parent: body child: stereo_front_l T_child_wrt_parent: 0.079 -0.040 -0.024 RPY_parent_to_child: 0.0 90.0 90.0 R_child_to_parent: 0.000 -0.000 1.000 1.000 0.000 -0.000 -0.000 1.000 0.000 #6: parent: body child: stereo_rear_l T_child_wrt_parent: -0.030 0.040 0.042 RPY_parent_to_child: 0.0 -90.0 -90.0 R_child_to_parent: 0.000 0.000 -1.000 -1.000 0.000 -0.000 0.000 1.000 0.000 #7: parent: body child: tof T_child_wrt_parent: 0.078 0.000 -0.025 RPY_parent_to_child: 0.0 90.0 90.0 R_child_to_parent: 0.000 -0.000 1.000 1.000 0.000 -0.000 -0.000 1.000 0.000 ``` ## Reply by mkwan · 2022-09-08 15:46:08 UTC **tl;dr: No difference when renaming `stereo_front` to `stereo`** As a test, I edited the config files to rename stereo_front to stereo: * voxl-camera-server.conf * extrinsics.conf * voxl-dfs-server.conf * /run/mpa/stereo_front Output of `voxl-inspect-extrinsics`: ``` #5: parent: body child: stereo T_child_wrt_parent: 0.079 -0.040 -0.024 RPY_parent_to_child: 0.0 90.0 90.0 R_child_to_parent: 0.000 -0.000 1.000 1.000 0.000 -0.000 -0.000 1.000 0.000 ``` I could see `stereo_pc` via `voxl-portal` populating successfully, but no change to `voa_pc_out`. Same output from `voxl-vision-px4` as before: ``` # voxl-vision-px4 -s detected platform NOT APQ8096 loading our own config file ================================================================= Parameters as loaded from config file: config file version: 1 qgc_ip: 192.168.168.101 en_secondary_qgc: 0 secondary_qgc_ip: 192.168.1.214 qgc_udp_port_number: 14550 udp_mtu: 512 en_localhost_mavlink_udp 1 localhost_udp_port_number: 14551 en_vio: 1 en_voa: 1 en_send_vio_to_qgc: 1 en_send_voa_to_qgc: 1 voa_upper_bound_m: -0.150000 voa_lower_bound_m: 0.150000 en_set_clock_from_gps: 1 en_force_onboard_mav1_mode: 1 en_reset_px4_on_error: 1 qvio_auto_reset_quality: 0.000500 horizon_cal_tolerance: 0.300000 offboard_mode: off follow_tag_id: 0 figure_eight_move_home: 1 en_tag_fixed_frame: 0 fixed_frame_filter_len: 5 en_transform_mavlink_pos_setpoints_from_fixed_frame:0 ================================================================= loading extrinsics config file starting geometry module starting px4 monitor starting px4 mavlink starting udp mavlink Adding manual QGC IP address to udp connection list: 192.168.168.101 Added new UDP connection to 192.168.168.101 starting fixed pose input starting vio manager starting tag manager starting voa manager starting control input pipe Init complete, entering main loop failed to send VOA data out uart to PX4 // note, this eventually does connect ... Connected to voxl-mavlink-server Detected PX4 Mavlink SYSID 1 ... Connected to voxl-qvio-server updating to use imu: imu_apps done updating transforms to use imu: imu_apps ... index: 0 dist: none back index: 1 dist: none index: 2 dist: none index: 3 dist: none index: 4 dist: none index: 5 dist: none index: 6 dist: none index: 7 dist: none index: 8 dist: none index: 9 dist: none left index: 10 dist: none index: 11 dist: none index: 12 dist: none index: 13 dist: none index: 14 dist: none index: 15 dist: none index: 16 dist: none index: 17 dist: none index: 18 dist: none forward index: 19 dist: none index: 20 dist: none index: 21 dist: none index: 22 dist: none index: 23 dist: none index: 24 dist: none index: 25 dist: none index: 26 dist: none index: 27 dist: none right index: 28 dist: none index: 29 dist: none index: 30 dist: none index: 31 dist: none index: 32 dist: none index: 33 dist: none index: 34 dist: none index: 35 dist: none index: 36 dist: none index: 0 dist: none back index: 1 dist: none index: 2 dist: none index: 3 dist: none index: 4 dist: none index: 5 dist: none index: 6 dist: none index: 7 dist: none index: 8 dist: none index: 9 dist: none left index: 10 dist: none index: 11 dist: none index: 12 dist: none index: 13 dist: none index: 14 dist: none index: 15 dist: none index: 16 dist: none index: 17 dist: none index: 18 dist: none forward index: 19 dist: none index: 20 dist: none index: 21 dist: none index: 22 dist: none index: 23 dist: none index: 24 dist: none index: 25 dist: none index: 26 dist: none index: 27 dist: none right index: 28 dist: none index: 29 dist: none index: 30 dist: none index: 31 dist: none index: 32 dist: none index: 33 dist: none index: 34 dist: none index: 35 dist: none index: 36 dist: none ``` ## Reply by Guest · 2022-09-12 19:14:01 UTC Hi, I just tried this on a fresh flash of platform 1.3.1-0.8 and everything seems to be working as intended on my end. My process: 1. Flash platform release (didn't wipe data directory so my camera calibration remained) 2. ADB in and run ```voxl-configure-mpa -p -f sentinel``` enabling most of the necessary services and setting up the cam->board extrinsics 3. Run ```voxl-configure-dfs factory_enable``` to enable dfs 4. Run ```voxl-vision-px4 -s``` to see the voa debug. It takes ~1 second for the full dfs pipeline to wakeup but eventually I start seeing data like this: ``` index: 0 dist: 0.84m back index: 1 dist: 0.89m index: 2 dist: 1.18m index: 3 dist: none index: 4 dist: none index: 5 dist: none index: 6 dist: none index: 7 dist: none index: 8 dist: none index: 9 dist: none left index: 10 dist: none index: 11 dist: none index: 12 dist: none index: 13 dist: none index: 14 dist: none index: 15 dist: 0.91m index: 16 dist: 0.75m index: 17 dist: 1.03m index: 18 dist: 1.17m forward index: 19 dist: 1.22m index: 20 dist: 1.22m index: 21 dist: 1.05m index: 22 dist: none index: 23 dist: none index: 24 dist: none index: 25 dist: none index: 26 dist: none index: 27 dist: none right index: 28 dist: none index: 29 dist: none index: 30 dist: none index: 31 dist: none index: 32 dist: none index: 33 dist: none index: 34 dist: 0.68m index: 35 dist: none index: 36 dist: 0.84m index: 0 dist: 0.84m back index: 1 dist: 0.89m index: 2 dist: 1.18m index: 3 dist: none index: 4 dist: none index: 5 dist: none index: 6 dist: none index: 7 dist: none index: 8 dist: none index: 9 dist: none left index: 10 dist: none index: 11 dist: none index: 12 dist: none index: 13 dist: none index: 14 dist: none index: 15 dist: 0.91m index: 16 dist: 0.75m index: 17 dist: 1.03m index: 18 dist: 1.17m forward index: 19 dist: 1.22m index: 20 dist: 1.22m index: 21 dist: 1.05m index: 22 dist: none index: 23 dist: none index: 24 dist: none index: 25 dist: none index: 26 dist: none index: 27 dist: none right index: 28 dist: none index: 29 dist: none index: 30 dist: none index: 31 dist: none index: 32 dist: none index: 33 dist: none index: 34 dist: 0.68m index: 35 dist: none index: 36 dist: 0.84m ``` Can you give these steps a try and let me know if you're still seeing issues ## Reply by mkwan · 2022-09-15 20:10:21 UTC @Alex-Gardner said in [Sentinel VOA software not available](/post/6216): > platform 1.3.1-0.8 Yes, it worked! I am able to see correct data via `voxl-vision-px4 -s` and use PX4's Collision Prevention feature. The drone was shipped with `system-image: 1.2.1-M0054-14.1a-perf` and `voxl-suite: 0.7.0`, but after flashing to [Voxl2 Platform 1.3.1-0.8](https://developer.modalai.com/asset/2), VOA worked out of the box as described. (Note: during the flashing, I noticed the Sentinel [documentation](https://docs.modalai.com/voxl2-platform-release/#releases) does not list this newest release.) To others reading this, some tips: 1. Use your /data folder to backup any files you don't want wiped, such as changes to /home/root. 2. In QGroundControl, save your factory params so you don't have to recalibrate your sensors. (Parameters -> Tools -> Save to file...) 3. Run and save `apt list --installed` in case there's some apt packages you don't want to forget. 4. Don't forget to redo the parameters in QGroundControl as mentioned in the [VOA documentation](https://docs.modalai.com/voxl-vision-px4-collision-prevention/). Thanks, @Alex-Gardner!