Hi, our team followed the VOA instructions to try the important features needed in our projects and it appears "Collision Prevention" doesn't work like the video demonstrated and we still can get our Sentinel very close (around 2 inches) to walls or trees. The only thing possibly wrong is we don't get OBSTACLE_DISTANCE message in QGC. Otherwise, we can see all stereo_front_pc, stereo_rear_pc and voa_pc_out point clouds in voxl-portal with voxl-dfs-server running, Health Check and voxl system check in voxl-portal all passed and object detection enabled for different Minimum Distances. and CP_* parameters verified:

Is no OBSTACLE_DISTANCE message a real issue? If not, any clue about what can go wrong?

Hi, our team followed the VOA instructions to try the important features needed in our projects and it appears "Collision Prevention" doesn't work like the video demonstrated and we still can get our Sentinel very close (around 2 inches) to walls or trees. The only thing possibly wrong is we don't get OBSTACLE_DISTANCE message in QGC. Otherwise, we can see all stereo_front_pc, stereo_rear_pc and voa_pc_out point clouds in voxl-portal with voxl-dfs-server running, Health Check and voxl system check in voxl-portal all passed and object detection enabled for different Minimum Distances. and CP_* parameters verified:

Any clue how to debug?

I suspected probably it is because of the fused local position by vision and searched in parameter. It sounds EKF2_GPS_CTRL is probably relevant. So, I set it to be 0 from 7. After trying that, my outdoor missions were all smooth without any accident.

I then set it back to 7 and tried flying in position mode. This error happened again and with altitude mode was forced.

So, anybody here know how to fix the problematic local position estimate? This is an AI drone and it shouldn't perform worse than drones without any vision.

Hi, here is the full message.

Also sometimes the following was encountered: .

When I tried few simple missions, not sure why this happened only at certain points or certain directions? Also not sure why both local and global position estimates failed at the same time?

OK, cool thanks

Will try.

BTW, what are the routing changes suggested? Do I need to execute any commands? Or, do they happen automatically by some code or scripts?

I

• checked with an AT&T store and they provide SIM card for phone only.
• then googled around and found several attempts using Quectel MODEM with AT&T SIM card and AT commands were used for debugging.
• searched in ModalAI Forum and found some AT commands for the model.
• tried but got only ERROR

  voxl2:~$ echo -ne "AT+QNWPREFCFG="mode_pref",LTE:NR5G\r" | busybox microcom /dev/ttyUSB2
  AT+QNWPREFCFG=mode_pref,LTE:NR5G
  ERROR

• did voxl-configure-modem again to see if AT commands can be used and found the same command:

  Sep 25 02:41:22 m0054 voxl-modem-start[8392]: qrb5165 based hardware detected...
  Sep 25 02:41:22 m0054 voxl-modem-start[8392]: \Setting mode preference to LTE / 5G
  Sep 25 02:41:22 m0054 voxl-modem-start[8392]: AT+QNWPREFCFG="mode_pref",LTE:NR5G
  Sep 25 02:41:22 m0054 voxl-modem-start[8392]: OK
  Sep 25 02:41:23 m0054 voxl-modem-start[8392]: Initalizing cellular connection...

• After 7 minutes I saw: no lease, failing. Well, at least, it tried to lease.

  Sep 25 02:48:49 m0054 voxl-modem-start[8392]: udhcpc: started, v1.27.2
  Sep 25 02:48:49 m0054 voxl-modem-start[8392]: No resolv.conf for interface wwan0.udhcpc
  Sep 25 02:48:49 m0054 voxl-modem-start[8392]: udhcpc: sending discover
  Sep 25 02:48:52 m0054 voxl-modem-start[8392]: udhcpc: sending discover
  Sep 25 02:48:55 m0054 voxl-modem-start[8392]: udhcpc: sending discover
  Sep 25 02:48:58 m0054 voxl-modem-start[8392]: udhcpc: sending discover
  Sep 25 02:49:01 m0054 voxl-modem-start[8392]: udhcpc: sending discover
  Sep 25 02:49:04 m0054 udhcpc[10399]: wwan0: configuration failed: leasefail:
  Sep 25 02:49:04 m0054 voxl-modem-start[8392]: udhcpc: no lease, failing

• All of sudden, I saw lease obtained with an IP provided:

  Sep 25 02:49:04 m0054 voxl-modem-start[8392]: udhcpc: started, v1.27.2
  Sep 25 02:49:05 m0054 voxl-modem-start[8392]: No resolv.conf for interface wwan0.udhcpc
  Sep 25 02:49:05 m0054 voxl-modem-start[8392]: udhcpc: sending discover
  Sep 25 02:49:05 m0054 voxl-modem-start[8392]: udhcpc: sending select for 10.194.135.84
  Sep 25 02:49:05 m0054 voxl-modem-start[8392]: udhcpc: lease of 10.194.135.84 obtained, lease time 7200
  Sep 25 02:49:05 m0054 voxl-modem-start[8392]: Too few arguments.
  Sep 25 02:49:05 m0054 voxl-modem-start[8392]: Too few arguments.

• I was not sure about the impact of Too few arguments error, though.

Well, with an IP address, I tried to:

• ping
• ssh

Unfortunately only responded with timeout messages.
Wondering if I really have the Internet access, I did ifconfig wlan0 down and the ping google.com from voxl. It was still responded !!!

Hmm, how about continue Connecting to QGC over 5G instructions?

• With Tailscale VPN installed, I was able to ssh to the drone using the VPN IP address!!!
• With QGroundControl setup, I was able to see the drone statuses and statistics using the VPN IP address!!!

That means I can control the drone even it is hundreds of miles away!!!

Millions of thanks for great help @tom and @Vinny !!!!!!!!!!!

Still with Too few arguments error, I am not sure how good the 4G/5G connection would be. Will experiment more to figure out. However, if you guys know anything can be improved, please let me know.

OK, will get to carries to see if I can move forward with the existing SIM cards. If not, will try Google Fi IoT SIM cards.

Thanks for the advice!!!

Cool, my carriers are AT&T and Xfinity Mobile. What I should I mention to them for my application? Just IoT or any specs that you know about?

So, the log:

voxl2:~$ quectel-CM -s nxtgenphone
[09-10_01:27:54:793] Quectel_QConnectManager_Linux_V1.6.0.24
[09-10_01:27:54:795] Find /sys/bus/usb/devices/2-1.1 idVendor=0x2c7c idProduct=0x800, bus=0x002, dev=0x003
[09-10_01:27:54:795] Auto find qmichannel = /dev/cdc-wdm0
[09-10_01:27:54:795] Auto find usbnet_adapter = wwan0
...
[09-10_01:58:12:576] requestSetupDataCall message timeout
[09-10_01:58:12:576] requestSetupDataCall err = 110
[09-10_01:58:12:576] try to requestSetupDataCall 60 second later
[09-10_01:59:12:615] requestSetupDataCall QMUXResult = 0x1, QMUXError = 0x1a
[09-10_01:59:12:615] try to requestSetupDataCall 60 second later

looks a SIM card issue to you? Or what else (e.g. commands or wiring) can I try to get 5G connected?