Collision prevention does not work with firmware 1.12.0-beta1 and master

[saengphet]

Describe the bug hello there, I installed the lightware lidar LW20/C and Stereo camera D435i (running PX4 avoidance for stereo) in front of Quadrotor for collision prevention. It works fine with firmware version v1.11.3 both lidar and stereo camera. However, after I upgraded the firmware to v1.12.0-beta1 ( tried master too on 26/03/2021). Even I did not touch any parameters relate to collision prevention, it does not work as expected. The vehicle did not stop and continue going forward when the pilot moves the pitch stick input forward in Position mode.

Normally, after arming the vehicle, the uorb message "obstacle_distance_fused" is shown (test using listener) but with firmware v1.12.0-beta1 it shows "never publish". I don't know why the Collision prevention not running even distance_sensor message exists. PX4 avoidance with D435i sometimes got the error message "TF Buffer: could not retrieve requested transform from buffer, unregistered" and the process not continue (I plan to post this error in https://github.com/PX4/PX4-Avoidance separate to this issue)

To Reproduce Steps to reproduce the behavior:

1. install LW20/C set -R 0 (forward) and D435i running with px4 avoidance in companion computer, set CP_DIST = 5 m.
2. takeoff in position mode
3. move pitch stick input forward to the obstacle
4. See an error, the vehicle does not stop at 5 m and continue moving forward to the obstacle

Expected behavior the vehicle stop at 5 m even pilot moves pitch stick input forward in position mode to the obstacle

Drone (please complete the following information):

• Quadrotor
• Pixhawk 4 (also tried the cube orange)
• lidar lightware LW20/C (I tried ll40ls i2c also, the result is the same)
• Stereo camera D435i with companion computer

Additional context I have tried it in gazebo simulation with h480 airframe. The result is the same. the vehicle does not stop as expected.

[dagar]

What do you have MPC_POS_MODE set to? Collision prevention is currently only available with MPC_POS_MODE=3 (Smooth position control with maximum acceleration and jerk limits), and not the new default MPC_POS_MODE=4 (Smooth position control where sticks map to acceleration and there's a virtual brake drag).

FYI @MaEtUgR

[saengphet]

What do you have MPC_POS_MODE set to? Collision prevention is currently only available with MPC_POS_MODE=3 (Smooth position control with maximum acceleration and jerk limits), and not the new default MPC_POS_MODE=4 (Smooth position control where sticks map to acceleration and there's a virtual brake drag).

FYI @MaEtUgR

I have already tested it by setting MPC_POS_MODE to 3: Smooth position control (Jerk optimized). I switch from "altitude mode" to "position mode", then the FCU seems stuck momentarily and back to normal, meanwhile the GPS LED changes from green to blue and Cannot switch to Position mode again. It is very strange behavior I have not ever seen. It likes the nav/gps or position status stop working after change to position mode. The FCU also disconnects from the companion computer at the same time.

[dagar]

Can you share the flight log?

On Sat, Mar 27, 2021, 01:17 saengphet @.***> wrote:

What do you have MPC_POS_MODE set to? Collision prevention is currently only available with MPC_POS_MODE=3 (Smooth position control with maximum acceleration and jerk limits), and not the new default MPC_POS_MODE=4 (Smooth position control where sticks map to acceleration and there's a virtual brake drag).

FYI @MaEtUgR https://github.com/MaEtUgR

I have already tested it by setting MPC_POS_MODE to 3: Smooth position control (Jerk optimized). I switch from "altitude mode" to "position mode", then the FCU seems stuck momentarily and back to normal, meanwhile the GPS LED changes from green to blue and Cannot switch to Position mode again. It is very strange behavior I have not ever seen. It likes the nav/gps or position status stop working after change to position mode. The FCU also disconnects from the companion computer at the same time.

— You are receiving this because you commented. Reply to this email directly, view it on GitHub https://github.com/PX4/PX4-Autopilot/issues/17240#issuecomment-808657394, or unsubscribe https://github.com/notifications/unsubscribe-auth/AAAUV2CUGMJQEN2LFRM2AJTTFVS6NANCNFSM4Z3VUJLQ .

[saengphet]

@dagar The flight logs are from the test platform F450 that is not connected to a companion computer, only laser LW20/C is available for collision prevention.

- Firmware v1.11.3 - CP is OK https://review.px4.io/plot_app?log=f8784279-4476-4294-a658-3d6839603464

- Firmware master CP is NOT OK https://review.px4.io/plot_app?log=1d898f6b-c164-4a81-b687-a3e593011595

https://review.px4.io/plot_app?log=e79f46ae-8c9b-4c28-a2e8-acf6a3c4dd02

[saengphet]

@dagar any update? Thanks

[saengphet]

@dagar I have not tested these again using firmware beta5. Have this problem been solved?

[barrenwufffet]

@saengphet Any resolve on this by chance? Experiencing the exact same issue and having issues troubleshooting

[dagar]

@barrenwufffet did you check MPC_POS_MODE set to 3?

[barrenwufffet]

Yes I have tried using MPC_POS_MODE set to 3 and 4 and the behavior is the exact same across both