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    Vision-hub and VOA

    Modal Pipe Architecture (MPA)
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    • Caio Licínio Vasconcelos PantarottoC
      Caio Licínio Vasconcelos Pantarotto
      last edited by

      I have an out of the box Starling and I'm having a problems making collision prevention work.. Is it supposed to work on position mode ? The I run the debugger for voxl-vision-hub I can see the points being correctly detect on the config file I also have en_voa enabled.. but it seems like there is no command being send to the drone to ask him to stop moving.. I tried getting closer and closer to the wall and the collision prevention never worked.. I also enable it on QgroundControl.

      Screenshot 2023-10-09 at 14.06.17.png
      Screenshot 2023-10-09 at 14.06.00.png
      Screenshot 2023-10-09 at 14.05.34.png
      {
      "config_file_version": 1,
      "en_localhost_mavlink_udp": true,
      "localhost_udp_port_number": 14551,
      "en_vio": true,
      "vio_pipe": "qvio",
      "secondary_vio_pipe": "mvio",
      "en_reset_vio_if_initialized_inverted": true,
      "vio_warmup_s": 3,
      "send_odom_while_failed": false,
      "horizon_cal_tolerance": 0.5,
      "offboard_mode": "off",
      "follow_tag_id": 0,
      "figure_eight_move_home": true,
      "robot_radius": 0.300000011920929,
      "collision_sampling_dt": 0.1,
      "max_lookahead_distance": 1,
      "en_tag_fixed_frame": false,
      "fixed_frame_filter_len": 5,
      "en_transform_mavlink_pos_setpoints_from_fixed_frame": false,
      "en_voa": true,
      "voa_upper_bound_m": -0.15000000596046448,
      "voa_lower_bound_m": 0.15000000596046448,
      "voa_voa_memory_s": 1,
      "voa_max_pc_per_fusion": 100,
      "voa_pie_max_dist_m": 20,
      "voa_pie_min_dist_m": 0.25,
      "voa_pie_under_trim_m": 1,
      "voa_pie_threshold": 3,
      "voa_send_rate_hz": 20,
      "voa_pie_slices": 36,
      "voa_pie_bin_depth_m": 0.15000000596046448,
      "voa_inputs": [{
      "enabled": true,
      "type": "point_cloud",
      "input_pipe": "dfs_point_cloud",
      "frame": "stereo_l",
      "max_depth": 8,
      "min_depth": 0.300000011920929,
      "cell_size": 0.079999998211860657,
      "threshold": 4,
      "x_fov_deg": 68,
      "y_fov_deg": 56,
      "conf_cutoff": 0
      }, {
      "enabled": true,
      "type": "point_cloud",
      "input_pipe": "stereo_front_pc",
      "frame": "stereo_front_l",
      "max_depth": 8,
      "min_depth": 0.300000011920929,
      "cell_size": 0.079999998211860657,
      "threshold": 4,
      "x_fov_deg": 68,
      "y_fov_deg": 56,
      "conf_cutoff": 0
      }, {
      "enabled": true,
      "type": "point_cloud",
      "input_pipe": "stereo_rear_pc",
      "frame": "stereo_rear_l",
      "max_depth": 8,
      "min_depth": 0.300000011920929,
      "cell_size": 0.079999998211860657,
      "threshold": 4,
      "x_fov_deg": 68,
      "y_fov_deg": 56,
      "conf_cutoff": 0
      }, {
      "enabled": true,
      "type": "tof",
      "input_pipe": "tof",
      "frame": "tof",
      "max_depth": 6,
      "min_depth": 0.15000000596046448,
      "cell_size": 0.079999998211860657,
      "threshold": 3,
      "x_fov_deg": 106.5,
      "y_fov_deg": 85.0999984741211,
      "conf_cutoff": 125
      }, {
      "enabled": true,
      "type": "rangefinder",
      "input_pipe": "rangefinders",
      "frame": "body",
      "max_depth": 8,
      "min_depth": 0.300000011920929,
      "cell_size": 0.079999998211860657,
      "threshold": 4,
      "x_fov_deg": 68,
      "y_fov_deg": 56,
      "conf_cutoff": 0
      }]

      Caio Licínio Vasconcelos PantarottoC 1 Reply Last reply Reply Quote 0
      • Caio Licínio Vasconcelos PantarottoC
        Caio Licínio Vasconcelos Pantarotto @Caio Licínio Vasconcelos Pantarotto
        last edited by

        @Caio-Licínio-Vasconcelos-Pantarotto I also get when initialising
        Detected Autopilot Mavlink SYSID 1
        starting tag manager
        starting voa manager
        starting horizon cal module
        Connected to VOA input pipe: tof
        Init complete
        Vision Started

        Jetson NanoJ 1 Reply Last reply Reply Quote 0
        • Jetson NanoJ
          Jetson Nano @Caio Licínio Vasconcelos Pantarotto
          last edited by

          @Caio-Licínio-Vasconcelos-Pantarotto Did you get it working, I am also facing the same issue

          Cliff WongC 1 Reply Last reply Reply Quote 0
          • Cliff WongC
            Cliff Wong ModalAI Team @Jetson Nano
            last edited by Cliff Wong

            Hi all, couple things to clear up on this feature:

            With the above parameters you are both setting limits for obstacle avoidance (OA) and collision prevention (CP)--2 different features. Details of each are here: OA and CP

            To enable obstacle avoidance, make sure these parameters are being used.

            Now collision prevention takes the additional step where you need to set param COM_OBS_AVOID=1. If you get a "Avoidance system not ready" message then that is a know s/w bug that is will be available on our development updates repo shortly. Also note these modes only work when MPC_POS_MODE is 0.

            Lastly to disable OA, use these parameters.

            Jetson NanoJ 2 Replies Last reply Reply Quote 0
            • Jetson NanoJ
              Jetson Nano @Cliff Wong
              last edited by

              This post is deleted!
              1 Reply Last reply Reply Quote 0
              • Jetson NanoJ
                Jetson Nano @Cliff Wong
                last edited by

                @Cliff-Wong @Cliff-Wong Three things

                I want to do collision prevention, and I set all those parameters, and I tested in position mode, but the prevention is not happening
                If I set COM_OBS_AVOID to 1 the system shows it is not ready to fly in QGC, and how soon will the bug be resolved?
                For me both Obstacle Avoidance and Collision Prevention didn't work and I have already set those parameters.

                Cliff WongC Eric KatzfeyE 2 Replies Last reply Reply Quote 0
                • Cliff WongC
                  Cliff Wong ModalAI Team @Jetson Nano
                  last edited by

                  @Jetson-Nano
                  Hey there, yes, if you are getting the QGC message that the "system is not ready" and will not let you arm in position mode, then you need a patch that sends the correct heartbeat message in PX4 to allow arming. It is in the SDK1.1.1 release, So I believe an apt-get upgrade should solve your problem.

                  But if needed the code is described here.

                  Jetson NanoJ 1 Reply Last reply Reply Quote 0
                  • Jetson NanoJ
                    Jetson Nano @Cliff Wong
                    last edited by

                    @Cliff-Wong Thank you for your response, but the SDK 1.1.1 is not available for download yet

                    VOL_SDK_Download.png

                    1 Reply Last reply Reply Quote 0
                    • Eric KatzfeyE
                      Eric Katzfey ModalAI Team @Jetson Nano
                      last edited by

                      @Jetson-Nano SDK 1.1.1 is now available. Please use the installer in the voxl2_SDK_1.1.1.tar.gz archive to install this. This should fix this issue.

                      Jetson NanoJ 1 Reply Last reply Reply Quote 0
                      • Jetson NanoJ
                        Jetson Nano @Eric Katzfey
                        last edited by Jetson Nano

                        @Eric-Katzfey Hey
                        Thanks for the timely release of SDK.
                        We were having issues with flashing the firmware for voxl 2 io which has to be used with the new SDK. Screenshot from 2023-12-06 15-40-55.png

                        Eric KatzfeyE 1 Reply Last reply Reply Quote 0
                        • Eric KatzfeyE
                          Eric Katzfey ModalAI Team @Jetson Nano
                          last edited by

                          @Jetson-Nano Do you have the new bootloader? The legacy bootloader (SDKs before 1.1.1) and the new firmware are not compatible, you won't be able to update the firmware on your Voxl2 IO using the legacy bootloader (it doesn't support flashing via UART). The new bootloader will enable firmware updates for Voxl2 IO board via Voxl2 (removing the need for STLink). We aren't currently distributing the new bootloader so you will need to send your Voxl2 IO back to us and we can send you replacement(s) with the new bootloader and firmware already loaded. You can email contact@modalai.com to get this process started.

                          ModeratorM 1 Reply Last reply Reply Quote 0
                          • ModeratorM
                            Moderator ModalAI Team @Eric Katzfey
                            last edited by

                            @Eric-Katzfey We will send a new VOXL 2 IO board immediately upon request, we just ask that you send back your older one after you are setup with your new one

                            Jetson NanoJ 1 Reply Last reply Reply Quote 0
                            • Jetson NanoJ
                              Jetson Nano @Moderator
                              last edited by

                              @Moderator @Eric-Katzfey Will we be able to upload the new firmware in the IO board with STLink? If yes I am not able to do it. I followed your documentation but it failed, and there is no supporting videos for updating the firmware with STLink, there is a video on the documentation for updating the firmware via adb shell and STLink, but apparently both the videos are the same, there is no video for updating using STLink

                              Eric KatzfeyE 1 Reply Last reply Reply Quote 0
                              • Eric KatzfeyE
                                Eric Katzfey ModalAI Team @Jetson Nano
                                last edited by

                                @Jetson-Nano Please do not attempt to update the firmware with STLink. We will send you new boards properly programmed.

                                1 Reply Last reply Reply Quote 0
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