search

PX4 / PX4-Autopilot

PX4 Autopilot Software
https://px4.io
BSD 3-Clause "New" or "Revised" License
7.94k stars 13.26k forks source link

[Bug] Avoidance system not ready #22994

Open enddrone opened 3 months ago

enddrone commented 3 months ago

Describe the bug

not able to arm the drone because the avoidance system is not ready

To Reproduce

enabled "COM_OBS_AVOID' and configured ''[CP_DIST], [CP_DELAY],[CP_GUIDE_ANG],[CP_GO_NO_DATA],[MPC_POS_MODE],[EKF2_EV_CTRL], [EKF2_HGT_REF], [EKF2_EV_DELAY], [EKF2_EV_POS_X][EKF2_EV_POS_Y], [EKF2_EV_POS_Z], Screenshot from 2024-04-10 02-50-32 Screenshot from 2024-04-10 02-51-05

Expected behavior

I want to use avoidance system using ros2 humble since it is the officially supported ros version for px4. What configuration should i use if i don't want to use the old px4 avoidance as shown in this repo (https://github.com/PX4/PX4-Avoidance.git) rather i want to mimic the same behavior using my ros2 packages which publishes to vehicle_visual_odometry and obstacle_distance.

Screenshot / Media

Screenshot from 2024-04-10 02-38-12 done all the needfull but still stuck with ''avoidance system not ready''

Flight Log

dont have any logs

Software Version

HW arch: CUBEPILOT_CUBEORANGEPLUS PX4 git-hash: fa1885af238e94c089941d789f514901f0a8562e PX4 version: 1.15.0 40 (17760320) PX4 git-branch: main OS: NuttX OS version: Release 11.0.0 (184549631) OS git-hash: 693b9e782535f12e6a4ab657c7a0c3bd92b45fb1 Build datetime: Mar 27 2024 03:14:31 Build uri: localhost Build variant: default Toolchain: GNU GCC, 9.3.1 20200408 (release) PX4GUID: 000600000000333838393032511200450046 MCU: STM32H7[4|5]xxx, rev. V

Flight controller

Pixhawx 6C mini

Vehicle type

Multicopter

How are the different components wired up (including port information)

No response

Additional context

No response

xdwgood commented 3 months ago

Can you confirm that vehicle_visual_odometry and object_distance have been accepted by the drone? (View using listener uorb topic) Additionally, you need to send the advanced obstacle system status in the heartbeat packet message.https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/mavlink_receiver.cpp#L2179