What is for "Avoidance / Collision prevention error"
I'm on testing Collision prevention as like below link
Also, I already verified VIO data and position mode but, as you can see below picture, I got a message Avoidance / collision prevention error.
because of this error, I cannot arm my flight in pre-check.
Could you please let me know why collision prevention error is occured in pre-check and how to revolve it?
Hi @shlee853 ,
Can you check your settings compared to these?
Please advise if they are the same and you're having issues.
@modaltb yes I already set this parameter as you show me.
If stereo vision camera has problem or uncalibrated, is it possible to make this error?
We calibrate the stereo sensors before shipping on the Flight Decks and m500s. Not sure if you have that or the VOXL + image sensors.
Without stereo calibration, yes there's likely to be issues.
How about trying this and seeing how things look?
@modaltb I calibrated stereo camera and tracking camera. and I found calibrated file here
yocto:/# ls /home/root/.ros/camera_info/
left.yaml right.yaml tracking.yaml
I also verified depth information using stereo camera and tracking information using tracking camera.
But, I'm not resolve Avoidance/Collision prevention Error so far.
Also, I cannot perform object avoidance function.
Could you please let me know some advice? why Avoidance/collision prevention error message appeared on QGC?
my flight s/w version is like this.
system-image: ModalAI 3.2.0 BUILDER: ekatzfey BUILD_TIME: 2021-02-05_19:54
kernel: #1 SMP PREEMPT Fri Feb 5 20:03:22 UTC 2021 3.18.71-perf
factory-bundle: 1.0.1 (Yocto installation)
Depends: docker, imu_app (= 0.0.6), libvoxl_io (= 0.5.2), voxl-cam-manager (= 0.2.2), voxl-docker-support (= 1.1.1), voxl-hal3-tof-cam-ros (= 0.0.2), voxl-modem (= 0.10.0), voxl-nodes (= 0.0.8), voxl-rtsp (= 1.0.2), voxl-utils (= 0.5.2), voxl-vision-px4 (= 0.6.8), voxl_imu (= 0.0.4), voxl-time-sync (= 0.0.1), voxl-vpn (= 0.0.2), librc_math (= 1.1.2), libmodal_pipe (= 1.2.2), modalai-vl (= 0.1.3)
Status: install user installed
Description: meta-package to install all of the voxl-suite
This thread is related to this
I ran into the same issue where QGC displays:
Avoidance/collision prevention Error
I think i know what is causing this issue in case there isnt any resolution yet.
It seems that QGC is interpreting what is sent from the AP the onboard_control_sensors_health bitfield in the MAV_SYS_STATUS_SENSOR message. And the bit responsible for this is MAV_SYS_STATUS_OBSTACLE_AVOIDANCE.
Looking at the PX4's Commander module, it also seems that the MAV_SYS_STATUS_OBSTACLE_AVOIDANCE bit is used for both obstacle avoidance AND collision prevention. While the VOXL-CAM is communicating with the AP for Collision Prevention, this health bit will always be false because the Avoidance system is not setup.
But i have yet to confirm if in spite of this, the Collision Prevention function still works. FYI i have a brand new Seeker which i have not tested in flight yet. Will anyone be able to advise before i go for my first flight?
Yes, PX4's obstacle avoidance and Collision Prevention are separate features. We only support the Collision Prevention functionality which is governed by the PX4 CP_DIST and similar parameters. Make sure the COM_OBS_AVOID parameter is OFF (0) in PX4