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AP_OAPathPlanner: Add param to reset WP origin while recovering from Bendy

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Rishabh 2020-05-21 14:07:45 +05:30 committed by Randy Mackay
parent 7bd32338ef
commit 44f0aef5e9
2 changed files with 23 additions and 2 deletions
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13
libraries/AC_Avoidance/AP_OAPathPlanner.cpp
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@ -26,6 +26,9 @@ extern const AP_HAL::HAL &hal;
// parameter defaults // parameter defaults
const float OA_LOOKAHEAD_DEFAULT = 15; const float OA_LOOKAHEAD_DEFAULT = 15;
const float OA_MARGIN_MAX_DEFAULT = 5; const float OA_MARGIN_MAX_DEFAULT = 5;
#if APM_BUILD_TYPE(APM_BUILD_Rover)
const int16_t OA_OPTIONS_DEFAULT = 1;
#endif
const int16_t OA_UPDATE_MS = 1000; // path planning updates run at 1hz const int16_t OA_UPDATE_MS = 1000; // path planning updates run at 1hz
const int16_t OA_TIMEOUT_MS = 3000; // results over 3 seconds old are ignored const int16_t OA_TIMEOUT_MS = 3000; // results over 3 seconds old are ignored
@ -61,6 +64,16 @@ const AP_Param::GroupInfo AP_OAPathPlanner::var_info[] = {
// @Path: AP_OADatabase.cpp // @Path: AP_OADatabase.cpp
AP_SUBGROUPINFO(_oadatabase, "DB_", 4, AP_OAPathPlanner, AP_OADatabase), AP_SUBGROUPINFO(_oadatabase, "DB_", 4, AP_OAPathPlanner, AP_OADatabase),
#if APM_BUILD_TYPE(APM_BUILD_Rover)
// @Param: OPTIONS
// @DisplayName: Options while recovering from Object Avoidance
// @Description: Bitmask which will govern vehicles behaviour while recovering from Obstacle Avoidance (i.e Avoidance is turned off after the path ahead is clear).
// @Values: 0:Vehicle will return to its original waypoint trajectory, 1:Reset the origin of the waypoint to the present location
// @Bitmask: 0: Reset the origin of the waypoint to the present location
// @User: Standard
AP_GROUPINFO("OPTIONS", 5, AP_OAPathPlanner, _options, OA_OPTIONS_DEFAULT),
#endif
AP_GROUPEND AP_GROUPEND
}; };

12
libraries/AC_Avoidance/AP_OAPathPlanner.h
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@ -54,6 +54,14 @@ public:
OA_PATHPLAN_DIJKSTRA = 2 OA_PATHPLAN_DIJKSTRA = 2
}; };
// enumeration for _OPTION parameter
enum OARecoveryOptions {
OA_OPTION_DISABLED = 0,
OA_OPTION_WP_RESET = (1 << 0),
};
uint16_t get_options() const { return _options;}
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
private: private:
@ -81,10 +89,10 @@ private:
} avoidance_result; } avoidance_result;
// parameters // parameters
AP_Int8 _type; // avoidance algorith to be used AP_Int8 _type; // avoidance algorithm to be used
AP_Float _lookahead; // object avoidance will look this many meters ahead of vehicle AP_Float _lookahead; // object avoidance will look this many meters ahead of vehicle
AP_Float _margin_max; // object avoidance will ignore objects more than this many meters from vehicle AP_Float _margin_max; // object avoidance will ignore objects more than this many meters from vehicle
AP_Int16 _options; // Bitmask for options while recovering from Object Avoidance
// internal variables used by front end // internal variables used by front end
HAL_Semaphore _rsem; // semaphore for multi-thread use of avoidance_request and avoidance_result HAL_Semaphore _rsem; // semaphore for multi-thread use of avoidance_request and avoidance_result
bool _thread_created; // true once background thread has been created bool _thread_created; // true once background thread has been created