Collision prevention
-
Hi, We are trying to test the collision prevention feature on our Voxl flight deck enabled drone. We've set the PX4 parameters as mentioned in the documentation of collision prevention. Its working fine when I set the cp_dist to 1.5 meters as told. It works well and the drone stops.
However, if at all I keep some other value less than 1.5 m, for example, 1 meter or 1.2 meter, or 0.8 meters, it doesn't stop for the obstacle and I just hear "collision warning" from QgroundControl station. So is 1.5 meter a standard value and we can't use any number less than that?
-
Hi @gauravshukla914 ,
I didn't know of any limitation, our factory test uses 1.5 --> https://gitlab.com/voxl-public/flight-core-px4/px4-parameters/-/blob/master/helpers/collision_prevention.params#L7
We'll need to check out what is introducing the limit.
-
gauravshukla914 Just curious, are you trying https://github.com/PX4/PX4-Avoidance or something else for collision prevention?
-
I don't think we have tried other values. You can see where PX4 computes min_distance here, that might help
-
The only lower bound I've seen is 20cm here:
https://gitlab.com/voxl-public/modal-pipe-architecture/voxl-vision-px4/-/blob/master/src/voa_manager.c#L165So I'm still puzzled.
If you debug stereo, what kind of data are you seeing? https://docs.modalai.com/voxl-vision-px4-collision-prevention/#debug-tools
Hello! It looks like you're interested in this conversation, but you don't have an account yet.
Getting fed up of having to scroll through the same posts each visit? When you register for an account, you'll always come back to exactly where you were before, and choose to be notified of new replies (either via email, or push notification). You'll also be able to save bookmarks and upvote posts to show your appreciation to other community members.
With your input, this post could be even better 💗
Register Login