# Obstacle avoidance / Collision prevention is disable in QGroundControl Source: https://forum.modalai.com/topic/202/obstacle-avoidance-collision-prevention-is-disable-in-qgroundcontrol Category: General Questions (https://forum.modalai.com/category/2/general-questions) Posted: 2021-04-18 07:26:58 UTC by shlee853 Replies: 5 · Views: 1316 ## shlee853 · 2021-04-18 07:26:58 UTC Hi guys, I'm testing flight deck and I'm trying to test object avoidance and collision prevention. as you know flight deck sensors, I have hi-resolution camera, stereo vision and tracking camera with default configuration. this is my voxl-vision-px4.conf { "qgc_ip": "192.168.219.182", "en_localhost_mavlink_udp": true, "en_secondary_qgc": false, "secondary_qgc_ip": "192.168.1.214", "qgc_udp_port_number": 14550, "localhost_udp_port_number": 14551, "en_vio": true, "en_voa": true, "en_send_vio_to_qgc": false, "en_send_voa_to_qgc": false, "en_adsb": false, "adsb_uart_bus": 7, "adsb_uart_baudrate": 57600, "px4_uart_bus": 5, "px4_uart_baudrate": 921600, "offboard_mode": "figure_eight", "R_imu_to_body": [[0, 1, 0], [1, 0, 0], [0, 0, -1]], "T_imu_wrt_body": [0.068, -0.015, -0.008], "height_body_above_ground_m": 0.05, "T_stereo_wrt_body": [0.10, -0.04, 0.0], "land_on_tag_id": 0, "follow_tag_id": 0, "en_apriltag_fixed_frame": false, "fixed_apriltags": [{ "tag_id": 0, "R_tag_to_fixed": [[0, -1, 0], [1, 0, 0], [0, 0, 1]], "T_tag_wrt_fixed": [0, 0, 0] }], "en_transform_mavlink_pos_setpoints_from_fixed_frame": true, "en_fixed_frame_pipe": false, "fixed_frame_filter_len": 5 } I already calibrated my stereo vision camera and I found calibration result as below. ![beforecalibration.png](https://forum.modalai.com/assets/uploads/files/1618729904594-beforecalibration.png) before calibration ![calibrated.png](https://forum.modalai.com/assets/uploads/files/1618729913056-calibrated.png) after calibration yocto:/# ls /home/root/.ros/camera_info/ left.yaml right.yaml tracking.yaml yocto:/# ls /etc/snav/ calibration.stereo.xml but, when I try to debug stereo mode with voxl-vision-px4, it stop on this. I think it's not normal. It sound display cloud point on terminal. am I right? { yocto:/# voxl-vision-px4 -s loading our own config file ================================================================= Parameters as loaded from config file: qgc_ip: 192.168.219.182 en_localhost_mavlink_udp 1 en_secondary_qgc: 0 secondary_qgc_ip: 192.168.1.214 qgc_udp_port_number: 14550 localhost_udp_port_number: 14551 en_vio: 1 en_voa: 1 en_send_vio_to_qgc: 0 en_send_voa_to_qgc: 0 en_adsb: 0 adsb_uart_bus: 7 adsb_uart_baudrate: 57600 px4_uart_bus: 5 px4_uart_baudrate: 921600 offboard_mode: figure_eight follow_tag_id: 0 en_apriltag_fixed_frame: 0 fixed_frame_filter_len: 5 en_transform_mavlink_pos_setpoints_from_fixed_frame:1 ================================================================= loading extrinsics and apriltag external config files #0: tag id: 0 name: default_name location: fixed size_m: 0.400 T_tag_wrt_fixed: 0.0 0.0 0.0 R_tag_to_fixed: 0.0 -1.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 #1: tag id: 1 name: default_name location: fixed size_m: 0.400 T_tag_wrt_fixed: 0.0 0.0 0.0 R_tag_to_fixed: 0.0 -1.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 loaded in 2 fixed apriltags #0: parent: imu1 child: imu0 T_child_wrt_parent: -0.048 0.037 0.002 RPY_parent_to_child: 0.0 0.0 0.0 R_child_to_parent: 1.000 -0.000 0.000 0.000 1.000 -0.000 0.000 0.000 1.000 #1: parent: imu0 child: tracking T_child_wrt_parent: 0.065 -0.014 0.013 RPY_parent_to_child: 0.0 45.0 90.0 R_child_to_parent: 0.000 -0.707 0.707 1.000 0.000 -0.000 -0.000 0.707 0.707 #2: parent: imu1 child: tracking T_child_wrt_parent: 0.017 0.015 0.013 RPY_parent_to_child: 0.0 45.0 90.0 R_child_to_parent: 0.000 -0.707 0.707 1.000 0.000 -0.000 -0.000 0.707 0.707 #3: parent: body child: imu0 T_child_wrt_parent: 0.020 0.014 -0.008 RPY_parent_to_child: 0.0 0.0 0.0 R_child_to_parent: 1.000 -0.000 0.000 0.000 1.000 -0.000 0.000 0.000 1.000 #4: parent: body child: imu1 T_child_wrt_parent: 0.068 -0.015 -0.008 RPY_parent_to_child: 0.0 0.0 0.0 R_child_to_parent: 1.000 -0.000 0.000 0.000 1.000 -0.000 0.000 0.000 1.000 #5: parent: body child: stereo_l T_child_wrt_parent: 0.100 -0.040 0.000 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: tof T_child_wrt_parent: 0.100 0.000 0.000 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: ground T_child_wrt_parent: 0.000 0.000 0.100 RPY_parent_to_child: 0.0 0.0 0.0 R_child_to_parent: 1.000 -0.000 0.000 0.000 1.000 -0.000 0.000 0.000 1.000 starting geometry module starting uart mavlink Successfully opened mavparser starting udp mavlink Adding manual QGC IP address to udp connection list: 192.168.219.182 Added new UDP connection to 192.168.219.182 starting px4 shell Detected PX4 Mavlink SYSID 1 starting fixed pose input starting vio manager starting apriltag manager starting voa manager starting offboard figure eight Init complete, entering main loop Connected to voxl-qvio-server done updating transforms to use imu: imu0 PX4 Connected over UART with sysid 1 <------ stop on this point for my stereo debug mode } also, when I connect to QGroundControl, I cannot satisfy pre-arm check because of avoidance/collision prevention Disabled ![1c6703a4-6b5f-4f54-8164-edbba1740760-image.png](https://forum.modalai.com/assets/uploads/files/1618730463997-1c6703a4-6b5f-4f54-8164-edbba1740760-image.png) also, I alredy checked all the relative parameters as like this. https://docs.modalai.com/voxl-vision-px4-collision-prevention/ Could you please give me advise to test obstacle avoidance? Thanks, ## Reply by Chad Sweet (ModalAI staff) · 2021-04-18 16:40:15 UTC If you start voxl-vision-px4 manually, you can run 'voxl-vision-px4 --help' and see the following option available -s, --debug_stereo print detected stereo obstacles as linescan points ## Reply by shlee853 · 2021-04-18 21:08:51 UTC (in reply to Chad Sweet) @Chad-Sweet as you can see above script, I already run manual option -s. But, I cannot see any obstacle cloud point. Just stop on processing. Please look at above message carefully. Thanks, ## Reply by shlee853 · 2021-04-21 21:31:28 UTC (in reply to Chad Sweet) @Chad-Sweet Hi Chad, Could you please let me know the example of normal operation with -s option? Thanks, ## Reply by James Strawson (ModalAI staff) · 2021-04-21 22:42:39 UTC @shlee853 I'm afraid to say the VOA feature has not yet been ported forward to our new software architecture (voxl-suite v0.3.4), but it still works in the legacy software (voxl-suite 0.2.0). We are a few weeks away from finishing the new version of VOA and adding it back in, at which point we will release another voxl-suite version. Until then you can go back to voxl-suite 0.2.0, sorry for the inconvenience! We are in a bit of a transition period as we rewrite all of our legacy software in the new architecture. Best Regards, James ## Reply by shlee853 · 2021-04-21 23:00:55 UTC (in reply to James Strawson) @James-Strawson got it. My test s/w version is volx-vision-px4 0.3.4 and has a same problem, am I right? Okay, I’ll proceed test VOA using 0.2.0 version before releasing new version s/w. Can I know release date for new version? Thanks,