avoidance collision prevention disabled
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@AP123 In portal you aren't seeing anything when you select "Stereo Front Disparity" for example?
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@AP123 might be worth trying this to see if the voxl-vision-px4 is handling the avoidance data correctly: https://docs.modalai.com/voxl-vision-px4-collision-prevention-0_9/#debugging-collision-prevention
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@AP123 It's possible, I would take a look here as well for some relevant info: https://docs.modalai.com/configure-extrinsics/
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@AP123 It's possible, I would take a look here as well for some relevant info: https://docs.modalai.com/configure-extrinsics/
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@AP123 It's possible, I would take a look here as well for some relevant info: https://docs.modalai.com/configure-extrinsics/
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@AP123 Hey there. Are you running VOA against a stereo camera pair or via a ToF sensor?
If you run
voxl-inspect-points voa_pc_outand see data, then the voxl2 SDK services are good and generating the correct mavlink obstacle distance points to PX4. If not then there's a configuration issue.If that is good, then you need to make sure PX4 has
MPC_POS_MODE= Simple pos control or smooth pos control,COM_OBS_AVOIDis enabled,CP_DIST> 0 (e.g. 2) and you must have an established home position (or good position from qvio if that is the case). Typically an "obstacle system not ready" is due to the MPC_POS_MODE (I think we default to acceleration-based input).If all those check out, then it's likely missing a home position requirement in PX4 & not voxl, and we'll need to look that up.
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@AP123 Hey there. Are you running VOA against a stereo camera pair or via a ToF sensor?
If you run
voxl-inspect-points voa_pc_outand see data, then the voxl2 SDK services are good and generating the correct mavlink obstacle distance points to PX4. If not then there's a configuration issue.If that is good, then you need to make sure PX4 has
MPC_POS_MODE= Simple pos control or smooth pos control,COM_OBS_AVOIDis enabled,CP_DIST> 0 (e.g. 2) and you must have an established home position (or good position from qvio if that is the case). Typically an "obstacle system not ready" is due to the MPC_POS_MODE (I think we default to acceleration-based input).If all those check out, then it's likely missing a home position requirement in PX4 & not voxl, and we'll need to look that up.
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