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AC_Avoidance: oapathplanner gets fast-waypoint option

This commit is contained in:
Randy Mackay 2023-12-18 16:26:40 +09:00
parent 607fa40431
commit 58b6429893
2 changed files with 2 additions and 1 deletions
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2
libraries/AC_Avoidance/AP_OAPathPlanner.cpp
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@ -59,7 +59,7 @@ const AP_Param::GroupInfo AP_OAPathPlanner::var_info[] = {
// @DisplayName: Options while recovering from Object Avoidance // @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). // @Description: Bitmask which will govern vehicles behaviour while recovering from Obstacle Avoidance (i.e Avoidance is turned off after the path ahead is clear).
// @Bitmask{Rover}: 0: Reset the origin of the waypoint to the present location, 1: log Dijkstra points // @Bitmask{Rover}: 0: Reset the origin of the waypoint to the present location, 1: log Dijkstra points
// @Bitmask{Copter}: 1: log Dijkstra points // @Bitmask{Copter}: 1:log Dijkstra points, 2:Allow fast waypoints (Dijkastras only)
// @User: Standard // @User: Standard
AP_GROUPINFO("OPTIONS", 5, AP_OAPathPlanner, _options, OA_OPTIONS_DEFAULT), AP_GROUPINFO("OPTIONS", 5, AP_OAPathPlanner, _options, OA_OPTIONS_DEFAULT),

1
libraries/AC_Avoidance/AP_OAPathPlanner.h
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@ -74,6 +74,7 @@ public:
OA_OPTION_DISABLED = 0, OA_OPTION_DISABLED = 0,
OA_OPTION_WP_RESET = (1 << 0), OA_OPTION_WP_RESET = (1 << 0),
OA_OPTION_LOG_DIJKSTRA_POINTS = (1 << 1), OA_OPTION_LOG_DIJKSTRA_POINTS = (1 << 1),
OA_OPTION_FAST_WAYPOINTS = (1 << 2),
}; };
uint16_t get_options() const { return _options;} uint16_t get_options() const { return _options;}