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    • KrisK
      Kris
      last edited by Kris

      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
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      index: 26  dist: none
      index: 27  dist: none right
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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
      
      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
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      index:  0  dist: none back
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      index: 18  dist: 1.05m forward
      index: 19  dist: 1.05m
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      index:  0  dist: none back
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      index: 18  dist: 1.05m forward
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      index:  0  dist: none back
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      index: 13  dist: 0.57m
      index: 14  dist: 0.53m
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      index: 16  dist: 0.95m
      index: 17  dist: none
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      index: 16  dist: 0.96m
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      index: 21  dist: 3.50m
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      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
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      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
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      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.

      1 Reply Last reply Reply Quote 0
      • KrisK
        Kris
        last edited by Kris

        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…

        1 Reply Last reply Reply Quote 0
        • KrisK
          Kris
          last edited by

          Hardware or Software issue?

          1 Reply Last reply Reply Quote 0
          • KrisK
            Kris
            last edited by Kris

            This post is deleted!
            1 Reply Last reply Reply Quote 0
            • S
              shlee853
              last edited by

              Hey you guy,

              Did you solve this problem?

              Thanks,

              1 Reply Last reply Reply Quote 0
              • KrisK
                Kris
                last edited by

                I still have not been able to solve this issue with the VOA.

                1 Reply Last reply Reply Quote 0
                • ?
                  A Former User
                  last edited by

                  Hi,
                  So sorry for the delay in response,

                  Can you show an image of the dfs-disparity debug image, this is what gets piped into the voa monitor, and seeing what your stereo cameras are seeing will allow us to see if the issue is a sensor one or an integration one.

                  1 Reply Last reply Reply Quote 0
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