Will the blades spinning affect collision prevention?

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Moderator

@AP123 what do you see when you open the DFS images in voxl-portal? If there are obstacles appearing, then it will trigger collision prevention

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Alex Kushleyev

@AP123 you can try decreasing the maximum disparity in the DFS server, please see the following:

https://gitlab.com/voxl-public/voxl-sdk/services/qrb5165-dfs-server/-/blob/master/src/config_file.h?ref_type=heads#L67 . The config file for DFS is located here : /etc/modalai/voxl-dfs-server.conf -- you can update the param.

Since the propellers are very close to the cameras, the disparity for those pixels will be very large. Decreasing maximum disparity should help filter out points that are too close.

Alternatively, you can look into the collision prevention code and add logic to ignore points that are too close.

Finally you can modify the DFS code to just blank out the (rectangular) part of image that sees the propellers before processing. I do not know if a mask is supported, but setting a certain area to 0 or 255 should achieve the effect of "ignoring".

I would try decreasing the maximum disparity first, that is the easiest, but not too much since you could be ignoring true obstacles.

@James-Strawson anything else @AP123 can try?

Alex