# Avoidance Question

Source: https://forum.modalai.com/topic/235/avoidance-question
Category: General Questions (https://forum.modalai.com/category/2/general-questions)
Posted: 2021-05-10 20:46:50 UTC by kiprock
Replies: 3 · Views: 992

## kiprock · 2021-05-10 20:46:50 UTC

Hello! Just reading through your [documentation on Obstacle Avoidance](https://docs.modalai.com/voxl-vision-px4-collision-prevention/) .. it seems to imply that you just need to run a calibration and turn it on in  /etc/modalai/voxl-vision-px4.conf

When I do all this, I don't seem to be getting any meaningful obstacle data from the debug mode or in QGC. I assume that I also need to compile and run the [avoidance ros node](https://github.com/PX4/PX4-Avoidance) on my own apart from these instructions?

Can you please clarify?
Thanks!

## Reply by Chad Sweet (ModalAI staff) · 2021-05-11 00:48:40 UTC

Hi Kip, right now that feature is only implemented in voxl-suite 0.2.0 and earlier. We're working right now on implementing for voxl-suite 0.3.5

## Reply by kiprock · 2021-05-12 19:11:58 UTC

I'm not so sure which one I'm on:
```
--------------------------------------------------------------------------------
system-image:    ModalAI 3.1.0 BUILDER: ekatzfey BUILD_TIME: 2020-12-23_19:41
kernel:          #1 SMP PREEMPT Wed Dec 23 19:50:23 UTC 2020 3.18.71-perf
factory-bundle:  1.0.1 (Yocto installation)
--------------------------------------------------------------------------------
architecture:    aarch64
processor:       apq8096
os:              GNU/Linux
--------------------------------------------------------------------------------
voxl-suite:
Package: voxl-suite
Version: 0.3.4
Depends: voxl-utils (>= 0.6.0), libmodal_json (>= 0.3.4), libmodal_pipe (>= 1.7.8), librc_math (>= 1.1.4), libvoxl_io (>= 0.5.4), mavlink-camera-manager (>= 0.0.1), opencv (>= 4.5.1), openmp (>= 10.0.1), voxl-camera-server (>= 0.5.6), voxl-dfs-server (>= 0.0.7), voxl-docker-support (>= 1.1.1), voxl-gphoto2 (>= 0.0.5), voxl-hal3-tof-cam-ros (>= 0.0.5), voxl-imu-server (>= 0.7.8), voxl-modem (>= 0.11.0), voxl-mpa-tflite-server (>= 0.0.2), voxl-mpa-tools (>= 0.1.6), voxl-nodes (>= 0.1.3), voxl-qvio-server (>= 0.2.1), voxl-rtsp (>= 1.0.3), voxl-streamer (>= 0.2.1), voxl-vision-px4 (>= 0.8.1), voxl-vpn (>= 0.0.3)
Status: unknown ok not-installed
Section: base
Architecture: all
Maintainer: james@modalai.com
MD5Sum: e1e5bf1a125affe5036099f6ce895bed
Size: 1818
Filename: voxl-suite_0.3.4.ipk
Description: meta-package for voxl-suite stable release

Package: voxl-suite
Version: 0.2.0
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
Section: base
Architecture: armv7a
Maintainer: james@modalai.com
MD5Sum: af706cd3c1ea59f274f2ed9b93141f1d
Size: 870
Filename: voxl-suite_0.2.0.ipk
Description: meta-package to install all of the voxl-suite
Installed-Time: 1062
```

## Reply by kiprock · 2021-05-24 15:53:49 UTC

Hi @Chad-Sweet it appears that I am on voxl-suite 0.2.0 as indicated above. However, if QGC reports that avoidance system is unavailable and the vehicle will not arm. If I run

 ```
voxl-vision -s
```

I can see the obstacle debug info on the terminal, also I set 
```
"en_voa":    true,
```

Any suggestions as to what I am doing wrong?