VOA suddenly stopped working



  • Hello,
    For some reason my VOA suddenly stopped working.
    In my PX4 config files, I have (always had) my VIO and VOA enabled.

    Now, when I start PX4 and change the CP_DIST to anything other than a negative value, I get "Avoidance/collision prevention Error" in QGC.

    CP QGC ERROR.png

    VOA Error QGC.png

    voxl:~$ voxl-vision-px4 -o
    detected platform APQ8096
    loading our own config file
    =================================================================
    Parameters as loaded from config file:
    config file version:        1
    qgc_ip:                     192.168.110.146
    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:              trajectory
    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
    exising instance of voxl-vision-px4 found, attempting to stop it
    starting geometry module
    starting px4 monitor
    starting px4 mavlink
    starting udp mavlink
    Adding manual QGC IP address to udp connection list: 192.168.110.146
    Added new UDP connection to 192.168.110.146
    starting px4 shell
    starting fixed pose input
    starting vio manager
    starting tag manager
    starting voa manager
    starting offboard trajectory
    starting control input pipe
    Init complete, entering main loop
    Connected to voxl-dfs-server
    Connected to TOF
    Connected to voxl-mavlink-server
    Detected PX4 Mavlink SYSID 1
    Connected to voxl-qvio-server
    updating to use imu: imu1
    done updating transforms to use imu: imu1
    T_body_wrt_local: -0.05  0.00 -0.01  RPY: -0.01  0.33 -0.07  velocity:  0.00  0.02 -0.00
    T_body_wrt_local: -0.05  0.00 -0.01  RPY: -0.01  0.33 -0.07  velocity:  0.00  0.02 -0.00
    detected system time has already been set
    T_body_wrt_local: -0.05  0.00 -0.01  RPY: -0.01  0.33 -0.07  velocity:  0.00  0.02 -0.00
    T_body_wrt_local: -0.05  0.00 -0.01  RPY: -0.01  0.33 -0.07  velocity:  0.00  0.02 -0.00
    T_body_wrt_local: -0.05  0.00 -0.01  RPY: -0.01  0.33 -0.07  velocity:  0.00  0.02 -0.00
    T_body_wrt_local: -0.05  0.00 -0.01  RPY: -0.01  0.33 -0.07  velocity:  0.00  0.02 -0.00
    T_body_wrt_local: -0.05  0.00 -0.01  RPY: -0.01  0.33 -0.07  velocity:  0.00  0.02 -0.00
    T_body_wrt_local: -0.05  0.00 -0.01  RPY: -0.01  0.33 -0.07  velocity:  0.00  0.02 -0.00
    T_body_wrt_local: -0.05  0.00 -0.01  RPY: -0.01  0.33 -0.07  velocity:  0.00  0.02 -0.00
    T_body_wrt_local: -0.05  0.00 -0.01  RPY: -0.01  0.33 -0.07  velocity:  0.00  0.02 -0.00
    T_body_wrt_local: -0.05  0.00 -0.01  RPY: -0.01  0.33 -0.07  velocity:  0.00  0.02 -0.00
    T_body_wrt_local: -0.05  0.00 -0.01  RPY: -0.01  0.33 -0.07  velocity:  0.00  0.02 -0.00
    T_body_wrt_local: -0.05  0.00 -0.01  RPY: -0.01  0.33 -0.07  velocity:  0.00  0.02 -0.00
    T_body_wrt_local: -0.05  0.00 -0.01  RPY: -0.01  0.33 -0.07  velocity:  0.00  0.02 -0.00
    T_body_wrt_local: -0.05  0.00 -0.01  RPY: -0.01  0.33 -0.07  velocity:  0.00  0.02 -0.00
    
    Service Name         |  Version  |  Enabled  |   Running   |  CPU Usage
    ---------------------------------------------------------------------------
     docker-autorun       |    1.2.4  | Disabled  | Not Running |  
     docker-daemon        |    1.2.4  | Disabled  | Not Running |  
     modallink-relink     |   0.15.1  | Disabled  | Not Running |  
     voxl-camera-server   |    0.9.1  |  Enabled  |   Running   |    14.2
     voxl-cpu-monitor     |    0.2.5  |  Enabled  |   Running   |     0.0
     voxl-dfs-server      |    0.2.6  |  Enabled  |   Running   |     4.0
     voxl-imu-server      |    1.0.1  |  Enabled  |   Running   |     2.0
     voxl-mavlink-server  |    0.1.1  |  Enabled  |   Running   |     2.0
     voxl-modem           |   0.15.1  | Disabled  | Not Running |  
     voxl-portal          |    0.2.6  |  Enabled  |   Running   |     0.0
     voxl-qvio-server     |    0.4.6  |  Enabled  |   Running   |     0.0
     voxl-streamer        |    0.3.1  | Disabled  | Not Running |  
     voxl-tag-detector    |    0.0.4  | Disabled  | Not Running |  
     voxl-tflite-server   |    0.2.3  | Disabled  | Not Running |  
     voxl-time-sync       |    1.1.1  | Disabled  | Not Running |  
     voxl-vision-px4      |    1.0.5  |  Enabled  |   Running   |     2.0
     voxl-wait-for-fs     |    1.1.1  |  Enabled  |  Completed  |  
    
    voxl:~$ voxl-vision-px4 -s
    detected platform APQ8096
    loading our own config file
    =================================================================
    Parameters as loaded from config file:
    config file version:        1
    qgc_ip:                     192.168.110.146
    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:              trajectory
    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
    exising instance of voxl-vision-px4 found, attempting to stop it
    starting geometry module
    starting px4 monitor
    starting px4 mavlink
    starting udp mavlink
    Adding manual QGC IP address to udp connection list: 192.168.110.146
    Added new UDP connection to 192.168.110.146
    starting px4 shell
    starting fixed pose input
    starting vio manager
    starting tag manager
    starting voa manager
    starting offboard trajectory
    starting control input pipe
    Init complete, entering main loop
    Connected to voxl-mavlink-server
    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
    Connected to voxl-dfs-server
    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
    
    Detected PX4 Mavlink SYSID 1
    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
    
    Connected to voxl-qvio-server
    updating to use imu: imu1
    done updating transforms to use imu: imu1
    Connected to TOF
    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: 1.05m forward
    index: 19  dist: 1.05m
    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: 1.05m forward
    index: 19  dist: 1.05m
    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: 1.05m forward
    index: 19  dist: 1.05m
    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: 1.05m forward
    index: 19  dist: 1.05m
    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: 0.57m
    index: 14  dist: 0.53m
    index: 15  dist: 0.58m
    index: 16  dist: 0.95m
    index: 17  dist: none
    index: 18  dist: none forward
    index: 19  dist: none
    index: 20  dist: none
    index: 21  dist: 4.34m
    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: 0.56m
    index: 14  dist: 0.53m
    index: 15  dist: 0.58m
    index: 16  dist: 0.95m
    index: 17  dist: none
    index: 18  dist: 5.12m forward
    index: 19  dist: 4.20m
    index: 20  dist: 4.10m
    index: 21  dist: 3.50m
    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: 0.56m
    index: 14  dist: 0.52m
    index: 15  dist: 0.58m
    index: 16  dist: 0.96m
    index: 17  dist: none
    index: 18  dist: 5.12m forward
    index: 19  dist: 4.20m
    index: 20  dist: 4.10m
    index: 21  dist: 3.50m
    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
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    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: 0.56m
    index: 14  dist: 0.52m
    index: 15  dist: 0.58m
    index: 16  dist: 0.96m
    index: 17  dist: none
    index: 18  dist: 5.12m forward
    index: 19  dist: 4.20m
    index: 20  dist: 4.10m
    index: 21  dist: 3.50m
    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: 0.56m
    index: 14  dist: 0.53m
    index: 15  dist: 0.57m
    index: 16  dist: 0.96m
    index: 17  dist: none
    index: 18  dist: 5.12m forward
    index: 19  dist: 4.20m
    index: 20  dist: 4.10m
    index: 21  dist: 3.50m
    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
    
    

    Everything in voxl-portal is working fine.
    I just cant seem to figure out why my VOA is not working during flight and continue to get the error in QGC.



  • Could someone please help me?

    I have tried the following;

    *Re-flashed the voxl platform image 3.8.0-0.7
    *Reset all PX4 parameters and reinstalled the EKF2 indoor vio parameters & Seeker v1 param rev A.
    *Re-calibrated my stereo and tracking cameras.
    *Re-calibrated imu0 and imu1.
    *Re-configured the qvio-server.
    *Re-configured extrinsics.
    *Set the following parameters in PX4;
    SYS_HAS_MAG 0
    EKF2_MAG_TYPE 5 (none)
    *enabled vio and voa in voxl px4 config files. Both are also setup to be sent to QGC.

    My dfs-server is running.

    I have checked all cables and connections.
    I have followed all the trouble shooting tips from ModalAi.
    I have looked at tons of posts in the ModalAi forums on this issue, but most problems were due to dfs server not being enabled or mag issue or Odometry/NED X Y Z issues. I haven’t found a scenario like mine yet.

    I’m on the newest QGroundControl v4.2.3
    ModalAi’s PX4 firmware version 1.11.3 with Custom Fw. Ver. 0.0.5
    Collision Prevention is Enabled & Obstacle Avoidance is Disabled in PX4 Vehichle Setup Safety tab.

    Everything is working correctly as it should except my VOA.
    Is there something I’ve missed?
    I’m stumped…



  • Hardware or Software issue?



  • This post is deleted!


  • Hey you guy,

    Did you solve this problem?

    Thanks,


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