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I believe that Firebase is unable to execute such query.
However, to solve the problem, I suggest you create a collection "People" at the root and put there those same attributes. Also add the attribute "idUsuario".
So your query would be:
db.collection("pessoas")
.whereEqualTo("idUsuario", "Y1e8racPvbhr5RHuxkQv")
.whereEqualTo("preso",true);
excellent idea, kkkk Valew
– Jilles Ragonha