Collision Prevention for Position slow mode

PX4 Autopilot
1

Hey,

I have two mode currently, Position and Position Slow mode. I have also enabled collision prevention (CP) mode. But CP only works in Position mode. I want to make it work for Position Slow mode as well. Do you know what parts of code I need to modify for this? Any help will be appreciated. Thanks in advance.

2

Need a fix for this urgently. Anyone?

3

Hi,

What is the sensor model and orientation that you have used for collision prevention.

4

I am using Ainstein Radar which is facing in forward direction

5

Hello,
What is the Px4 version and the parameters set through QGC for Collision prevention

7

What is the Px4 version . What is the radio telemetry that you are using

9

Hi,

I am afraid i am still on PX4 v 1.13.3 . In this version collision prevention didn’t work as expected using the low price VL53l0x and VL53l1x distance sensor. Even though distance sensor shows readings on QGC, there was a danger to the drone as the driver file is not written with safety in mind ! The sensor showed reading beyond its range and PX4 or the driver file couldn’t detect the fault or control . The drone suddenly flew upwards above 20 meter and then suddenly dropped down landing very hard to the ground without touching the joy stick. The flight mode was Position mode.
I see that Px4 v14.3 itself is not stable . My flight controller is a CUBE Orange with a Herelink Radio Telemetry .

10

My aim for collision prevention is just to stop the drone and not move anywhere else when the distance sensor detects the obstacle in forward direction. And this works fine as far as I have tested.

Do you think changing the CP_DELAY would help for your case? While we are talking about this, do you think if i want a good reactive system, keeping CP_DELAY as low as possible would be helpful right?

I understand that you are on v1.13.3. Let’s say for your case if want the collision prevention in other modes, what would the process be?

11

unfortunately I have done this experiment back in 2022. But i will be doing a lot of sensor integration in the coming months

12

And what about this?

13

Hi,

You cannot have collision prevention in other modes except in POSITION MODE.

14

I understand that. But you can change the source code to make collision prevention work for some other mode right?

Also can you atleast tell me how does the flow chart of collision prevention looks like and how it works with Position mode?

15

Hello,

I understand that. But you can change the source code to make collision prevention work for some other mode right?

I don’t think so . Check the below link

Also can you atleast tell me how does the flow chart of collision prevention looks like and how it works with Position mode?

Check the above link for more information

16

I have read that. But can’t we make changes in the source code to make it work for position slow?