mirror of https://github.com/ArduPilot/ardupilot
AP_Scripting: added BendyRuler applet
this is a port of the plane bendy ruler from the 2018 OBC https://github.com/tridge/ardupilot/tree/CUAV-OBC-2018
This commit is contained in:
Andrew Tridgell
parent
94fbb7aec2
commit
65debec053
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@ -0,0 +1,896 @@
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-- MAV_COLLISION_THREAT_LEVEL
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MAV_COLLISION_THREAT_LEVEL = {
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NONE = 0, -- Not a threat
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LOW = 1, -- Mild concern about this threat
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HIGH = 2, -- Craft is panicking and may take action to avoid
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ENUM_END = 3 -- End of enum
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}
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-- MAV_COLLISION_SRC
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MAV_COLLISION_SRC = {
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ADSB = 0, -- Source is ADSB_VEHICLE packets
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MAVLINK_GPS_GLOBAL_INT = 1, -- Source is MAVLink GPS_GLOBAL_INT
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ENUM_END = 2 -- End of enum
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}
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MAV_COLLISION_ACTION={
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NONE=0, -- Ignore any potential collisions
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REPORT=1, -- Report potential collision
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ASCEND_OR_DESCEND=2, -- Ascend or Descend to avoid threat
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MOVE_HORIZONTALLY=3, -- Move horizontally to avoid threat
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MOVE_PERPENDICULAR=4, -- Aircraft to move perpendicular to the collision's velocity vector
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RTL=5, -- Aircraft to fly directly back to its launch point
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HOVER=6, -- Aircraft to stop in place
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} ;
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local gcs_threat = {
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src = nil,
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src_id = 0,
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timestamp_ms = 0,
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_location = nil,
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_velocity = nil,
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threat_level = nil,
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closest_approach_xy = 0.0,
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closest_approach_z = 0.0,
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time_to_closest_approach = 0.0,
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distance_to_closest_approach = 0.0
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}
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local avoidance_request = {
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current_loc = nil,
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target_loc = nil,
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groundspeed = 0.0,
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airspeed = 0.0,
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wind_dir_rad = 0.0,
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wind_speed = 0.0,
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request_time_ms = 0
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}
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local avoid_req2 = {
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current_loc = nil,
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target_loc = nil,
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groundspeed = 0.0,
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airspeed = 0.0,
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wind_dir_rad = 0.0,
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wind_speed = 0.0,
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request_time_ms = 0
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}
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local avoidance_result = {
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target_loc = nil,
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new_target_loc = nil,
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result_time_ms = 0,
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avoidance_needed = nil
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}
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local PARAM_TABLE_KEY = 7
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local PARAM_TABLE_PREFIX = "BENDY_"
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local OPTION_IGNORE_HEIGHT=1
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local ALT_FRAME_ABSOLUTE = 0
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-- bind a parameter to a variable
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function bind_param(name)
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local p = Parameter()
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assert(p:init(name), string.format('could not find %s parameter', name))
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return p
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end
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-- add a parameter and bind it to a variable
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function bind_add_param(name, idx, default_value)
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assert(param:add_param(PARAM_TABLE_KEY, idx, name, default_value), string.format('could not add param %s', name))
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return bind_param(PARAM_TABLE_PREFIX .. name)
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end
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-- setup SHIP specific parameters
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assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 7), 'could not add param table')
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--[[
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// @Param: BENDY_OPTIONS
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// @DisplayName: ADS-B avoidance options
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// @Description: Bitmask of behaviour options
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// @Values: 0:Disabled,1:Enabled
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// @User: Advanced
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--]]
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BENDY_OPTIONS = bind_add_param('OPTIONS', 1, 1)
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--[[
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// @Param: BENDY_MARGIN_FENCE
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// @DisplayName: fence margin
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// @Description: Avoidance margin for fence
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// @User: Advanced
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--]]
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BENDY_MARGIN_FENCE = bind_add_param('MARGIN_FENCE', 2, 50)
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--[[
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// @Param: BENDY_MARGIN_DYN
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// @DisplayName: dynamic margin
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// @Description: Avoidance margin for dynamic objects
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// @User: Advanced
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--]]
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BENDY_MARGIN_DYN = bind_add_param('MARGIN_DYN', 3, 20)
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--[[
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// @Param: BENDY_MARGIN_EXCL
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// @DisplayName: exclusion zone margin
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// @Description: Avoidance margin for exclusion zones
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// @User: Advanced
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--]]
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BENDY_MARGIN_EXCL = bind_add_param('MARGIN_EXCL', 4, 20)
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--[[
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// @Param: BENDY_MARGIN_WIDE
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// @DisplayName: wide avoidance margin
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// @Description: Avoidance margin for wide avoidance
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// @User: Advanced
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--]]
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BENDY_MARGIN_WIDE = bind_add_param('MARGIN_WIDE', 5, 30)
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--[[
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// @Param: BENDY_MARGIN_HGT
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// @DisplayName: height avoidance margin
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// @Description: Avoidance margin for height avoidance
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// @User: Advanced
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--]]
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BENDY_MARGIN_HGT = bind_add_param('MARGIN_HGT', 6, 60)
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--[[
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// @Param: BENDY_LOOKAHEAD
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// @DisplayName: avoidance lookahead distance
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// @Description: Avoidance lookahead distance
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// @Units: metres
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// @User: Advanced
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--]]
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BENDY_LOOKAHEAD = bind_add_param('LOOKAHEAD', 7, 500)
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WARN_DIST_XY = bind_param("AVD_W_DIST_XY")
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WARN_ACTION = bind_param("AVD_W_ACTION")
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local warn_act= WARN_ACTION:get()
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AVD_ENABLE = bind_param("AVD_ENABLE")
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local enabled=AVD_ENABLE:get()
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ROLL_LIMIT_DEG = bind_param("ROLL_LIMIT_DEG")
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local roll_limit_cd=ROLL_LIMIT_DEG:get() *100
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local lookahead_param=BENDY_LOOKAHEAD:get()
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local margin_fence=BENDY_MARGIN_FENCE:get()
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local enabled=AVD_ENABLE:get()
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local current_loc=Location()
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local target_loc=Location()
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local thread_created = false
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local current_lookahead =0
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local obstacle_count
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local collision_detected
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local GRAVITY_MSS=9.80665
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local LOCATION_SCALING_FACTOR_INV=89.83204953368922
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local new_target_loc = Location()
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local current_target_s
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local flag=0
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--Auxiliary functions
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function wrap_180(angle)
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local res = wrap_360(angle)
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if res > 180 then
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res = res - 360
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end
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return res
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end
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function wrap_360(angle)
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local res = math.fmod(angle, 360.0)
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if res < 0 then
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res = res + 360.0
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end
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return res
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end
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function length_squared(w)
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return (w:x() * w:x()) + (w:y() * w:y())
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end
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function dot_product_2vector(p,w)
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return (w:x() * p:x()) + (w:y() * p:y())
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end
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function closest_point(p, w)
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local l2 = length_squared(w)
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if l2 < 1e-6 then
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return w -- case v == w
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end
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local t = dot_product_2vector(p,w) / l2
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if t <= 0 then
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local Vector2=Vector2f()
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Vector2:x(0)
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Vector2:y(0)
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return Vector2
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elseif t >= 1 then
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return w
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else
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w:x(w:x()*t)
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w:y(w:y()*t)
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return w
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end
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end
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function closest_distance_between_radial_and_point(w, p)
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local closest = closest_point(p, w)
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return math.sqrt(length_squared(closest - p))
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end
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function closest_approach_xy(my_loc, my_vel, obstacle_loc, obstacle_vel, time_horizon)
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local delta_vel_ne = Vector2f()
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delta_vel_ne:x(obstacle_vel:x() - my_vel:x())
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delta_vel_ne:y(obstacle_vel:y() - my_vel:y())
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local delta_pos_ne = obstacle_loc:get_distance_NE(my_loc)
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local line_segment_ne =Vector2f()
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line_segment_ne:x(delta_vel_ne:x() * time_horizon)
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line_segment_ne:y(delta_vel_ne:y() * time_horizon)
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local ret = closest_distance_between_radial_and_point(line_segment_ne, delta_pos_ne)
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--print(string.format(" time_horizon: (%d)", time_horizon))
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--print(string.format(" delta pos: (y=%f, x=%f)", delta_pos_ne.x, delta_pos_ne.y))
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--print(string.format(" delta vel: (y=%f, x=%f)", delta_vel_ne.x, delta_vel_ne.y))
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--print(string.format(" line segment: (y=%f, x=%f)", line_segment_ne.x, line_segment_ne.y))
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--print(string.format(" closest: (%f)", ret))
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return ret
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end
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function longitude_scale(lat)
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local DEG_TO_RAD = math.pi / 180
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local scale = math.cos(lat * (1.0e-7 * DEG_TO_RAD))
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return math.max(scale, 0.01)
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end
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function limit_latitude(lat)
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if lat > 900000000 then
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lat = 1800000000 - lat
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elseif lat < -900000000 then
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lat = -(1800000000 + lat)
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end
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return lat
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end
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function wrap_longitude(lon)
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if lon > 1800000000 then
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lon = lon - 3600000000
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elseif lon < -1800000000 then
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lon = lon + 3600000000
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end
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return lon
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end
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-- Extrapolate latitude/longitude given bearing and distance
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function offset_bearing(lat, lng, bearing_deg, distance)
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local radians = math.rad
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local ofs_north = math.cos(math.rad(bearing_deg)) * distance
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local ofs_east = math.sin(math.rad(bearing_deg)) * distance
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local dlat = ofs_north * LOCATION_SCALING_FACTOR_INV
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local dlng = (ofs_east * LOCATION_SCALING_FACTOR_INV) / longitude_scale(lat + dlat / 2)
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lat = lat + dlat
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lat = limit_latitude(lat)
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lng = wrap_longitude(dlng + lng)
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return lat, lng
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end
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function location_project(loc1, bearing_deg, distance)
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-- Create a copy of the location
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local loc2 = Location()
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--loc2=loc1
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--loc2:offset_bearing(bearing_deg, distance)
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local lat, lon=offset_bearing(loc1:lat(), loc1:lng(), bearing_deg, distance)
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loc2:lat(lat)
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loc2:lng(lon)
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loc2:alt(loc1:alt())
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--gcs:send_text(0, string.format("IN: Lat: %.2f, Lon: %.2f", loc1:lat(),loc1:lng()))
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--gcs:send_text(0, string.format("Dist: %.2f, Bear: %.2f", distance,bearing_deg))
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--gcs:send_text(0, string.format("Out: Lat: %.2f, Lon: %.2f", loc2:lat(),loc2:lng()))
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return loc2
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end
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--get the avoidance radius in meters of a given obstacle type
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function get_avoidance_radius(obstacle)
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src_id=obstacle.src_id
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if src_id < 20000 then
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-- fixed wing, 300m radius
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return 300
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elseif src_id < 30000 then
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-- weather, radius 150 at ground, 300m at 3000m, 173m at 1500ft
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return 173
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elseif src_id < 40000 then
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-- migratory bird, 100m
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return 100
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elseif src_id < 50000 then
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-- bird of prey, 200m
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return 200
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else
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-- default to 300, which is worst case
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return 300
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end
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end
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--check if we are within the height range to need to avoid an obstacle
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function within_avoidance_height(obstacle,margin, deltat)
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local src_id=obstacle.src_id
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local loc=obstacle.location
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local velocity=obstacle.velocity
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if BENDY_OPTIONS:get()==1 and OPTION_IGNORE_HEIGHT==1 then
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return true
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end
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if src_id >= 20000 and src_id < 30000 then
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--weather, always avoid
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gcs:send_text(0, "Weather Alt")
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return true
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end
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local alt_cm
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if not loc:change_alt_frame(ALT_FRAME_ABSOLUTE) then
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return true
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else
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alt_cm=loc:alt()
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end
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local obstacle_alt = alt_cm * 0.01
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local alt_min, alt_max
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if src_id < 20000 or (src_id >= 30000 and src_id < 40000) then
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-- fixed wing or migrating bird, height range 150m, deltat seconds of height change
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alt_min = obstacle_alt - (75 + margin)
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alt_max = obstacle_alt + (75 + margin)
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else
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-- bird of prey, from location to ground
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alt_max = obstacle_alt + margin
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alt_min = -10000
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end
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-- note that velocity is NED
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if velocity:z() < 0 then
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alt_max = alt_max - (deltat * velocity:z())
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else
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alt_min = alt_min - (deltat * velocity:z())
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end
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local myloc = Location()
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local myloc = ahrs:get_position()
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if not myloc:change_alt_frame(ALT_FRAME_ABSOLUTE) then
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return true
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else
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alt_cm=myloc:alt()
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end
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local alt = alt_cm * 0.01
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-- are we in the range of avoidance heights?
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return alt > alt_min and alt < alt_max
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end
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--get height difference between an obstacle and our location
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function obstacle_height_difference(obstacle)
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location=obstacle.location
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local alt1_cm=0;
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location:change_alt_frame(ALT_FRAME_ABSOLUTE)
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alt1_cm=location:alt()
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local alt2_cm=0;
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local myloc = ahrs:get_position()
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myloc:change_alt_frame(ALT_FRAME_ABSOLUTE)
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alt2_cm=myloc:alt()
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return (alt1_cm - alt2_cm) * 0.01;
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end
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function mission_clear(current_loc, xy_clearance, z_clearance, time_s)
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if enabled==0 or warn_act ~= 2 then
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||||||
|
gcs:send_text(0, string.format("AVD_ENABLE %d: ,WARN_ACTION: %d", enabled, warn_act))
|
||||||
|
gcs:send_text(0, "Params not enabled for clear checking")
|
||||||
|
return true
|
||||||
|
end
|
||||||
|
local timeout_ms = 5000
|
||||||
|
local now = millis()
|
||||||
|
--assume we are not moving
|
||||||
|
|
||||||
|
local my_vel = Vector3f()
|
||||||
|
my_vel:x(0)
|
||||||
|
my_vel:y(0)
|
||||||
|
my_vel:z(0)
|
||||||
|
local obs_count = 0
|
||||||
|
local closest_idx = -1
|
||||||
|
local closest_dist = 5000
|
||||||
|
local closest_radius = 0
|
||||||
|
obstacle_count=avoid:num_obstacles()
|
||||||
|
if obstacle_count == 0 then
|
||||||
|
--gcs:send_text(0, "No obstacles detected")
|
||||||
|
else
|
||||||
|
--gcs:send_text(0, string.format("Num of Obstacle: %d", obstacle_count))
|
||||||
|
end
|
||||||
|
for i = 0, obstacle_count-1 do
|
||||||
|
local obstacle = {}
|
||||||
|
obstacle.timestamp_ms=avoid:get_obstacle_time(i)
|
||||||
|
obstacle.velocity=avoid:get_obstacle_vel(i)
|
||||||
|
obstacle.location=avoid:get_obstacle_loc(i)
|
||||||
|
obstacle.src_id=avoid:get_obstacle_id(i)
|
||||||
|
if (now - obstacle.timestamp_ms) > timeout_ms then
|
||||||
|
goto continue
|
||||||
|
end
|
||||||
|
obs_count = obs_count + 1
|
||||||
|
|
||||||
|
if not within_avoidance_height(obstacle, z_clearance, time_s) then
|
||||||
|
goto continue
|
||||||
|
end
|
||||||
|
-- get updated obstacle position
|
||||||
|
local obstacle_loc =Location()
|
||||||
|
obstacle_loc = obstacle.location
|
||||||
|
local obstacle_velocity = Vector2f()
|
||||||
|
obstacle_velocity:x(obstacle.velocity:x())
|
||||||
|
obstacle_velocity:y(obstacle.velocity:y())
|
||||||
|
local dt = (now - obstacle.timestamp_ms):tofloat() * 0.001
|
||||||
|
obstacle_loc:offset(obstacle_velocity:x() * dt, obstacle_velocity:y() * dt)
|
||||||
|
|
||||||
|
local closest_xy = closest_approach_xy(current_loc, my_vel, obstacle_loc, obstacle.velocity, time_s)
|
||||||
|
local radius = get_avoidance_radius(obstacle)
|
||||||
|
|
||||||
|
if closest_xy < closest_dist then
|
||||||
|
closest_dist = closest_xy
|
||||||
|
closest_idx = i
|
||||||
|
closest_radius = radius
|
||||||
|
end
|
||||||
|
::continue::
|
||||||
|
end
|
||||||
|
|
||||||
|
gcs_threat.src = obs_count
|
||||||
|
gcs_threat.closest_approach_xy = closest_dist - closest_radius
|
||||||
|
gcs_threat.closest_approach_z = 0
|
||||||
|
gcs_threat.threat_level = MAV_COLLISION_THREAT_LEVEL.NONE
|
||||||
|
gcs_action = MAV_COLLISION_ACTION.NONE
|
||||||
|
if closest_dist < (xy_clearance + closest_radius) then
|
||||||
|
-- it could come within the radius in the given time
|
||||||
|
local obstacle = {}
|
||||||
|
obstacle.timestamp_ms=avoid:get_obstacle_time(closest_idx)
|
||||||
|
obstacle.velocity=avoid:get_obstacle_vel(closest_idx)
|
||||||
|
obstacle.location=avoid:get_obstacle_loc(closest_idx)
|
||||||
|
obstacle.src_id=avoid:get_obstacle_id(closest_idx)
|
||||||
|
gcs_threat.src_id = obstacle.src_id
|
||||||
|
gcs_threat.threat_level = 2 -- MAV_COLLISION_THREAT_LEVEL_HIGH
|
||||||
|
gcs_threat.time_to_closest_approach = 0
|
||||||
|
gcs_threat.closest_approach_z = obstacle_height_difference(obstacle)
|
||||||
|
gcs_action = MAV_COLLISION_ACTION.REPORT
|
||||||
|
return false
|
||||||
|
end
|
||||||
|
-- All clear
|
||||||
|
return true
|
||||||
|
|
||||||
|
end
|
||||||
|
|
||||||
|
function mission_avoidance_margin(our_loc, our_velocity, avoid_sec)
|
||||||
|
local timeout_ms = 5000
|
||||||
|
local margin = math.max(BENDY_MARGIN_WIDE:get(), WARN_DIST_XY:get())
|
||||||
|
local num_outside_height_range = 0
|
||||||
|
local num_timed_out = 0
|
||||||
|
local closest_dist = 0
|
||||||
|
local closest_id = 0
|
||||||
|
gcs_threat.closest_approach_z = 1000
|
||||||
|
local obs_count = 0
|
||||||
|
for i = 0, obstacle_count-1 do
|
||||||
|
-- obstacles can update via MAVLink while we are calculating
|
||||||
|
-- avoidance margins
|
||||||
|
local obstacle = {}
|
||||||
|
obstacle.timestamp_ms=avoid:get_obstacle_time(i)
|
||||||
|
obstacle.velocity=avoid:get_obstacle_vel(i)
|
||||||
|
obstacle.location=avoid:get_obstacle_loc(i)
|
||||||
|
obstacle.src_id=avoid:get_obstacle_id(i)
|
||||||
|
|
||||||
|
local now =millis()
|
||||||
|
if now - obstacle.timestamp_ms > timeout_ms then
|
||||||
|
num_timed_out = num_timed_out + 1
|
||||||
|
goto continue
|
||||||
|
end
|
||||||
|
obs_count = obs_count + 1
|
||||||
|
if not within_avoidance_height(obstacle, BENDY_MARGIN_HGT :get(), avoid_sec) then
|
||||||
|
num_outside_height_range = num_outside_height_range + 1
|
||||||
|
goto continue
|
||||||
|
end
|
||||||
|
-- use our starting point as origin
|
||||||
|
local obstacle_position = our_loc:get_distance_NE(obstacle.location)
|
||||||
|
-- update obstacle position by delta time since we logged its position
|
||||||
|
local obstacle_velocity = Vector2f()
|
||||||
|
obstacle_velocity:x(obstacle.velocity:x())
|
||||||
|
obstacle_velocity:y(obstacle.velocity:y())
|
||||||
|
local dt = (now - obstacle.timestamp_ms):tofloat() * 0.001
|
||||||
|
obstacle_position:x(obstacle_position:x() + (obstacle_velocity:x() * dt))
|
||||||
|
obstacle_position:y(obstacle_position:y() + (obstacle_velocity:y() * dt))
|
||||||
|
-- get our velocity relative to obstacle
|
||||||
|
local relative_velocity = our_velocity - obstacle_velocity
|
||||||
|
local final_pos = Vector2f()
|
||||||
|
final_pos:x(relative_velocity:x() * avoid_sec)
|
||||||
|
final_pos:y(relative_velocity:y() * avoid_sec)
|
||||||
|
-- lookup the min distance to keep from the object
|
||||||
|
local radius = get_avoidance_radius(obstacle)
|
||||||
|
-- assume that messages about aircraft position could be up to 2s old when we get them
|
||||||
|
local position_lag = 2.0
|
||||||
|
local position_error = position_lag * obstacle_velocity:length()
|
||||||
|
local dist = closest_distance_between_radial_and_point(final_pos, obstacle_position) - (radius + position_error)
|
||||||
|
dist = dist - BENDY_MARGIN_DYN:get()
|
||||||
|
--gcs:send_text(0, string.format("distance:%f, margin: %d",dist, margin))
|
||||||
|
if dist < margin then
|
||||||
|
margin = dist
|
||||||
|
closest_dist = dist
|
||||||
|
closest_id = i
|
||||||
|
end
|
||||||
|
::continue::
|
||||||
|
end
|
||||||
|
if closest_dist > 0 then
|
||||||
|
-- update threat report for GCS
|
||||||
|
local obstacle = {}
|
||||||
|
obstacle.timestamp_ms=avoid:get_obstacle_time(closest_id)
|
||||||
|
obstacle.velocity=avoid:get_obstacle_vel(closest_id)
|
||||||
|
obstacle.location=avoid:get_obstacle_loc(closest_id)
|
||||||
|
obstacle.src_id=avoid:get_obstacle_id(closest_id)
|
||||||
|
|
||||||
|
gcs_threat.src = obs_count
|
||||||
|
gcs_threat.src_id = obstacle.src_id
|
||||||
|
gcs_threat.threat_level = MAV_COLLISION_THREAT_LEVEL_LOW
|
||||||
|
gcs_threat.time_to_closest_approach = 0
|
||||||
|
gcs_threat.closest_approach_xy = closest_dist + BENDY_MARGIN_DYN:get()
|
||||||
|
gcs_threat.closest_approach_z = obstacle_height_difference(obstacle)
|
||||||
|
end
|
||||||
|
--gcs:send_text(0, string.format("to:%d oh:%d t:%d", num_timed_out, num_outside_height_range, obstacle_count))
|
||||||
|
--gcs:send_text(0, string.format("margin: %f",margin))
|
||||||
|
return margin
|
||||||
|
end
|
||||||
|
|
||||||
|
function calc_avoidance_margin(loc1, loc2, our_velocity, avoid_sec)
|
||||||
|
-- By projecting 1m along the line we avoid a problem with the
|
||||||
|
-- exclusion avoidance being happy to skirt along a line parallel
|
||||||
|
-- to an exclusion zone
|
||||||
|
local bearing_deg = math.deg(loc1:get_bearing(loc2))
|
||||||
|
local loc1_shifted = location_project(loc1, bearing_deg, 1)
|
||||||
|
local obs_margin = mission_avoidance_margin(loc1_shifted, our_velocity, avoid_sec)
|
||||||
|
return obs_margin
|
||||||
|
end
|
||||||
|
|
||||||
|
function effective_groundspeed(airspeed, bearing_deg, wind_dir_rad, wind_speed)
|
||||||
|
-- Ensure airspeed is at least 1.0
|
||||||
|
airspeed = math.max(airspeed, 1.0)
|
||||||
|
-- Convert bearing to radians
|
||||||
|
local bearing_rad = math.rad(bearing_deg)
|
||||||
|
-- Calculate the angle between wind direction and bearing
|
||||||
|
local temp = math.pi - (wind_dir_rad - bearing_rad)
|
||||||
|
local dangle = wind_speed * math.sin(temp) / airspeed
|
||||||
|
-- If dangle is out of valid range, return 0
|
||||||
|
if dangle > 1.0 or dangle < -1.0 then
|
||||||
|
return 0
|
||||||
|
end
|
||||||
|
-- Calculate the angle alpha using arcsine
|
||||||
|
local alpha = math.asin(dangle)
|
||||||
|
-- Calculate yaw
|
||||||
|
local yaw = bearing_rad - alpha
|
||||||
|
-- Calculate beta, the angle between wind direction and yaw
|
||||||
|
local beta = math.pi - (wind_dir_rad - yaw)
|
||||||
|
-- Calculate ground speed squared (gs2)
|
||||||
|
local gs2 = airspeed^2 + wind_speed^2 - 2 * airspeed * wind_speed * math.cos(beta)
|
||||||
|
-- If gs2 is negative or zero, return 0
|
||||||
|
if gs2 <= 0 then
|
||||||
|
return 0
|
||||||
|
end
|
||||||
|
-- Calculate the final ground speed
|
||||||
|
local gs = math.sqrt(gs2)
|
||||||
|
--gcs:send_text(0, string.format("as:%.1f bear:%.1f wind_dir:%.1f ws:%.1f -> gs:%.1f", airspeed, bearing_deg, math.deg(wind_dir_rad), wind_speed, gs))
|
||||||
|
return gs
|
||||||
|
end
|
||||||
|
|
||||||
|
function have_collided(current_loc)
|
||||||
|
local timeout_ms = 5000
|
||||||
|
local ret = false
|
||||||
|
local now = millis()
|
||||||
|
|
||||||
|
for i = 0, obstacle_count-1 do
|
||||||
|
local obstacle = {}
|
||||||
|
obstacle.timestamp_ms=avoid:get_obstacle_time(i)
|
||||||
|
obstacle.velocity=avoid:get_obstacle_vel(i)
|
||||||
|
obstacle.location=avoid:get_obstacle_loc(i)
|
||||||
|
obstacle.src_id=avoid:get_obstacle_id(i)
|
||||||
|
-- If the obstacle data is too old, skip it
|
||||||
|
if now - obstacle.timestamp_ms > timeout_ms then
|
||||||
|
goto continue
|
||||||
|
end
|
||||||
|
-- Check if the obstacle is within the avoidance height
|
||||||
|
if not within_avoidance_height(obstacle, 0, 0) then
|
||||||
|
goto continue
|
||||||
|
end
|
||||||
|
-- Get updated obstacle position
|
||||||
|
local obstacle_loc = avoid:get_obstacle_loc(i)
|
||||||
|
local obstacle_velocity = Vector2f()
|
||||||
|
obstacle_velocity:x(obstacle.velocity:x())
|
||||||
|
obstacle_velocity:y(obstacle.velocity:y())
|
||||||
|
local dt = (now - obstacle.timestamp_ms):tofloat() * 0.001
|
||||||
|
-- Update the obstacle's position using its velocity
|
||||||
|
obstacle_loc:offset(obstacle_velocity:x() * dt, obstacle_velocity:y() * dt)
|
||||||
|
local radius = get_avoidance_radius(obstacle)
|
||||||
|
local distance = current_loc:get_distance(obstacle_loc)
|
||||||
|
-- If the distance to the obstacle is less than its radius, a collision is detected
|
||||||
|
if distance < radius then
|
||||||
|
--DEBUG(1, string.format("Collided with %u %.0fm", obstacle.src_id, distance))
|
||||||
|
gcs:send_text(0, string.format("Collision Alert"))
|
||||||
|
ret = true
|
||||||
|
end
|
||||||
|
::continue::
|
||||||
|
end
|
||||||
|
|
||||||
|
collision_detected = ret
|
||||||
|
return ret
|
||||||
|
end
|
||||||
|
|
||||||
|
function update_mission_avoidance(avd, new_target_loc)
|
||||||
|
--gcs:send_text(0, "Started mission avoidance update")
|
||||||
|
local airspeed = math.max(avd.airspeed, 1.0)
|
||||||
|
local current_loc = avd.current_loc
|
||||||
|
current_lookahead = math.min(math.max(current_lookahead, lookahead_param * 0.5), lookahead_param)
|
||||||
|
--gcs:send_text(0, "got current lookahead")
|
||||||
|
local full_distance = current_loc:get_distance(new_target_loc)
|
||||||
|
-- the distance we look ahead is adjusted dynamically based on avoidance results
|
||||||
|
local avoid_step1_m = current_lookahead
|
||||||
|
local avoid_step2_m = current_lookahead * 2
|
||||||
|
-- test for flying past the waypoint, so if we are close, we have room to dodge after the waypoint
|
||||||
|
local avoid_max = math.min(avoid_step1_m, full_distance + math.min(margin_fence / 2, 100))
|
||||||
|
local avoid_sec1 = avoid_max / airspeed
|
||||||
|
local bearing_inc_cd = 1500
|
||||||
|
local distance = airspeed * avoid_sec1
|
||||||
|
local bearing_cd =math.deg(current_loc:get_bearing(new_target_loc))*100
|
||||||
|
-- report collisions
|
||||||
|
have_collided(current_loc)
|
||||||
|
-- get the current ground course
|
||||||
|
local ground_course_deg
|
||||||
|
ground_course_deg = wrap_180(math.deg(ahrs:groundspeed_vector():angle()))
|
||||||
|
--gcs:send_text(0, string.format("ground_course_deg : %.2f",ground_course_deg ))
|
||||||
|
|
||||||
|
-- If the full distance is less than 20m, no avoidance is needed
|
||||||
|
if full_distance < 20 then
|
||||||
|
return false
|
||||||
|
end
|
||||||
|
-- Try 5 degree increments around a circle, alternating left and right. Check each one to see if flying in that direction would avoid all obstacles.
|
||||||
|
local best_bearing = bearing_cd * 0.01
|
||||||
|
local have_best_bearing = false
|
||||||
|
local best_margin = -10000
|
||||||
|
local best_margin_bearing = best_bearing
|
||||||
|
local rate_of_turn_dps = math.deg(GRAVITY_MSS * math.tan(math.rad(roll_limit_cd * 0.01 * 0.6)) / (airspeed + 0.1))
|
||||||
|
for i = 0, 360 / (bearing_inc_cd / 100) do
|
||||||
|
local bearing_delta_cd = i * bearing_inc_cd / 2
|
||||||
|
--gcs:send_text(0, string.format("i: %d", i))
|
||||||
|
if i % 2 == 1 then
|
||||||
|
-- Alternate between left and right of the target
|
||||||
|
bearing_delta_cd = -bearing_delta_cd
|
||||||
|
end
|
||||||
|
--gcs:send_text(0, string.format("bearing_delta_cd: %d",bearing_delta_cd))
|
||||||
|
-- Test bearing
|
||||||
|
local bearing_test = wrap_180((bearing_cd*0.01) + (bearing_delta_cd*0.01))
|
||||||
|
--gcs:send_text(0, string.format("bearing_cd: %.2f, bearing_delta_cd: %.2f, bearing_test: %.2f",bearing_cd, bearing_delta_cd, bearing_test))
|
||||||
|
--gcs:send_text(0, string.format("bearing_test: %.2f",bearing_test))
|
||||||
|
local course_change_deg = wrap_180(bearing_test - ground_course_deg)
|
||||||
|
--gcs:send_text(0, string.format("course change: %.2f",course_change_deg))
|
||||||
|
local ground_speed = effective_groundspeed(airspeed, bearing_test, avd.wind_dir_rad, avd.wind_speed)
|
||||||
|
|
||||||
|
if math.abs(course_change_deg) > 170 then
|
||||||
|
-- Skip 180-degree turns as we can't predict the turn direction
|
||||||
|
goto continue
|
||||||
|
end
|
||||||
|
-- Calculate how long it will take to change course
|
||||||
|
local turn_time_s = math.abs(course_change_deg / rate_of_turn_dps)
|
||||||
|
-- Approximate turn by flying forward for half of the turn time
|
||||||
|
local projected_loc = location_project(current_loc, ground_course_deg, ground_speed * turn_time_s * 0.5)
|
||||||
|
-- If turning more than 90 degrees, add sideways movement
|
||||||
|
if math.abs(course_change_deg) > 90 then
|
||||||
|
local direction = course_change_deg > 0 and (ground_course_deg + 90) or (ground_course_deg - 90)
|
||||||
|
local proportion = math.sin(math.rad(math.abs(course_change_deg) - 90))
|
||||||
|
projected_loc = location_project(projected_loc, direction, ground_speed * proportion * turn_time_s * 0.5)
|
||||||
|
end
|
||||||
|
-- Position after one step
|
||||||
|
local loc_test = location_project(projected_loc, bearing_test, distance)
|
||||||
|
-- Calculate velocity and margin
|
||||||
|
local loc_diff = projected_loc:get_distance_NE(loc_test)
|
||||||
|
local our_velocity = Vector2f()
|
||||||
|
our_velocity:x(loc_diff:x() / avoid_sec1)
|
||||||
|
our_velocity:y(loc_diff:y() / avoid_sec1)
|
||||||
|
local margin = calc_avoidance_margin(projected_loc, loc_test, our_velocity, avoid_sec1)
|
||||||
|
--gcs:send_text(0, string.format("Mission avoidance margin: %f", margin))
|
||||||
|
if margin > best_margin then
|
||||||
|
best_margin_bearing = bearing_test
|
||||||
|
best_margin = margin
|
||||||
|
end
|
||||||
|
--gcs:send_text(0, string.format("Mission avoidance margin: %d, Mission Wide: %d",margin,BENDY_MARGIN_WIDE:get()))
|
||||||
|
if margin > BENDY_MARGIN_WIDE:get() then
|
||||||
|
--gcs:send_text(0, string.format("Inside first if"))
|
||||||
|
-- This direction avoids all obstacles for one step. Check if it leads to a clear path for a longer distance.
|
||||||
|
if not have_best_bearing then
|
||||||
|
best_bearing = bearing_test
|
||||||
|
have_best_bearing = true
|
||||||
|
elseif math.abs(wrap_180(ground_course_deg - bearing_test)) < math.abs(wrap_180(ground_course_deg - best_bearing)) then
|
||||||
|
-- Replace with a closer direction
|
||||||
|
best_bearing = bearing_test
|
||||||
|
end
|
||||||
|
local test_bearings = { 0, 45, -45 }
|
||||||
|
local target_bearing = math.deg(loc_test:get_bearing(new_target_loc))
|
||||||
|
for _, delta in ipairs(test_bearings) do
|
||||||
|
local new_bearing = target_bearing + delta
|
||||||
|
local target_distance2 = loc_test:get_distance(new_target_loc)
|
||||||
|
local distance2 = math.min(math.max(avoid_step2_m, 10), target_distance2)
|
||||||
|
local avoid_sec2 = distance2 / airspeed
|
||||||
|
local loc_test2 = location_project(loc_test, new_bearing, distance2)
|
||||||
|
local loc_diff2 = loc_test:get_distance_NE(loc_test2)
|
||||||
|
local our_velocity2 = Vector2f()
|
||||||
|
our_velocity2:x(loc_diff2:x() / avoid_sec2)
|
||||||
|
our_velocity2:y(loc_diff2:y() / avoid_sec2)
|
||||||
|
local margin2 = calc_avoidance_margin(loc_test, loc_test2, our_velocity2, avoid_sec2)
|
||||||
|
|
||||||
|
if margin2 > BENDY_MARGIN_WIDE:get() then
|
||||||
|
--gcs:send_text(0, string.format("Inside second if"))
|
||||||
|
-- Project the new target in the chosen direction by the full distance
|
||||||
|
local new_loc = location_project(projected_loc, bearing_test, full_distance)
|
||||||
|
new_target_loc:lat(new_loc:lat())
|
||||||
|
new_target_loc:lng(new_loc:lng())
|
||||||
|
new_target_loc:alt(new_loc:alt())
|
||||||
|
--gcs:send_text(0, string.format("M2 Lat: %.2f, M2 lon: %.2f", new_target_loc:lat(),new_target_loc:lng()))
|
||||||
|
current_lookahead = math.min(lookahead_param, current_lookahead * 1.1)
|
||||||
|
gcs_action = (i ~= 0 or delta ~= 0) and 1 or 0
|
||||||
|
--gcs:send_text(0, string.format("delta: %d",delta))
|
||||||
|
--gcs:send_text(0, string.format("Margin: %f, Margin2: %f", margin, margin2))
|
||||||
|
return i ~= 0 or delta ~= 0
|
||||||
|
end
|
||||||
|
end
|
||||||
|
--else
|
||||||
|
-- gcs:send_text(0, string.format("No first if"))
|
||||||
|
end
|
||||||
|
::continue::
|
||||||
|
end
|
||||||
|
-- If no good direction was found, choose the best based on margin
|
||||||
|
local chosen_bearing
|
||||||
|
if have_best_bearing then
|
||||||
|
chosen_bearing = best_bearing
|
||||||
|
current_lookahead = math.min(lookahead_param, current_lookahead * 1.05)
|
||||||
|
gcs_action = 2
|
||||||
|
else
|
||||||
|
chosen_bearing = best_margin_bearing
|
||||||
|
current_lookahead = math.max(lookahead_param * 0.5, current_lookahead * 0.9)
|
||||||
|
gcs_action = 3
|
||||||
|
end
|
||||||
|
-- Calculate new target location based on the best effort
|
||||||
|
local new_loc = location_project(current_loc, chosen_bearing, full_distance)
|
||||||
|
new_target_loc:lat(new_loc:lat())
|
||||||
|
new_target_loc:lng(new_loc:lng())
|
||||||
|
new_target_loc:alt(new_loc:alt())
|
||||||
|
--gcs:send_text(0, string.format("Mission avoidance updated?: True"))
|
||||||
|
return true
|
||||||
|
end
|
||||||
|
|
||||||
|
|
||||||
|
function avoidance_thread()
|
||||||
|
-- Local variables for target location and new target location
|
||||||
|
local local_target_loc = Location()
|
||||||
|
-- Get the current time
|
||||||
|
local now = millis()
|
||||||
|
-- If the request is too old (more than 2000 ms), skip processing
|
||||||
|
if now - avoidance_request.request_time_ms > 2000 then
|
||||||
|
--gcs:send_text(0, string.format("Time passed: %.2f", (now - avoidance_request.request_time_ms):tofloat()))
|
||||||
|
return -- Skip the rest of this loop iteration
|
||||||
|
end
|
||||||
|
--gcs:send_text(0, string.format("Time passed: %.2f", (now - avoidance_request.request_time_ms):tofloat()))
|
||||||
|
-- Copy the avoidance request into a local variable
|
||||||
|
avoid_req2 = avoidance_request
|
||||||
|
local_target_loc = avoid_req2.target_loc:copy()
|
||||||
|
new_target_loc = local_target_loc:copy()
|
||||||
|
--gcs:send_text(0, string.format("Local1 Lat: %.2f, Local1 lon: %.2f", local_target_loc:lat(), local_target_loc:lng()))
|
||||||
|
-- Call the function to update the mission avoidance with the request and new target location
|
||||||
|
local res = update_mission_avoidance(avoid_req2, new_target_loc)
|
||||||
|
--[[if res then
|
||||||
|
gcs:send_text(0, string.format("res: True"))
|
||||||
|
gcs:send_text(0, string.format("NT Lat: %.2f, NT lon: %.2f", new_target_loc:lat(),new_target_loc:lng()))
|
||||||
|
else
|
||||||
|
gcs:send_text(0, string.format("res: False"))
|
||||||
|
end ]]
|
||||||
|
|
||||||
|
-- Update the avoidance result directly without semaphore
|
||||||
|
--gcs:send_text(0, string.format("Local2 Lat: %.2f, Local2 lon: %.2f", local_target_loc:lat(), local_target_loc:lng()))
|
||||||
|
avoidance_result.target_loc = local_target_loc
|
||||||
|
avoidance_result.new_target_loc = res and new_target_loc or local_target_loc
|
||||||
|
avoidance_result.result_time_ms = millis()
|
||||||
|
avoidance_result.avoidance_needed = res
|
||||||
|
end
|
||||||
|
|
||||||
|
function mission_avoidance(current_loc, target_loc, groundspeed)
|
||||||
|
-- Check if avoidance is disabled or warning action is not set to 2
|
||||||
|
if enabled==0 or warn_act ~= 2 then
|
||||||
|
-- Reset threat and action if conditions aren't met
|
||||||
|
gcs_threat = {} -- Clear GCS threat data
|
||||||
|
gcs_action = 0 -- Reset GCS action
|
||||||
|
return false
|
||||||
|
end
|
||||||
|
-- Simulate thread creation for avoidance logic
|
||||||
|
avoidance_thread()
|
||||||
|
-- Get current time (milliseconds simulation)
|
||||||
|
local now = millis() -- Populate avoidance request with current data
|
||||||
|
avoidance_request.current_loc = current_loc
|
||||||
|
avoidance_request.target_loc = target_loc
|
||||||
|
avoidance_request.groundspeed = groundspeed
|
||||||
|
-- Estimate airspeed (use groundspeed if no airspeed estimate available)
|
||||||
|
if not ahrs:airspeed_estimate() then
|
||||||
|
avoidance_request.airspeed = groundspeed
|
||||||
|
else
|
||||||
|
avoidance_request.airspeed = ahrs:airspeed_estimate()
|
||||||
|
end -- Get wind estimate and convert to 2D
|
||||||
|
local wind_3d = ahrs:wind_estimate()
|
||||||
|
local wind_2d = Vector2f()
|
||||||
|
wind_2d:x(wind_3d:x())
|
||||||
|
wind_2d:y(wind_3d:y())
|
||||||
|
-- Calculate wind direction and speed
|
||||||
|
avoidance_request.wind_dir_rad = wind_2d:angle()
|
||||||
|
avoidance_request.wind_speed = wind_2d:length()
|
||||||
|
-- Record request time
|
||||||
|
avoidance_request.request_time_ms = now
|
||||||
|
-- Check if previous result is still valid and matches the current target location
|
||||||
|
if avoidance_result.target_loc then
|
||||||
|
--gcs:send_text(0, string.format("lat_tar: .%.2f, res_lat: %.2f", target_loc:lat(), avoidance_result.target_loc:lat()))
|
||||||
|
if target_loc:lat() == avoidance_result.target_loc:lat() and target_loc:lng() == avoidance_result.target_loc:lng() and (now - avoidance_result.result_time_ms) < 2000 then
|
||||||
|
-- Update target location with the new avoidance result location
|
||||||
|
target_loc:lat(avoidance_result.new_target_loc:lat())
|
||||||
|
target_loc:lng(avoidance_result.new_target_loc:lng())
|
||||||
|
-- Return whether avoidance is needed based on the result
|
||||||
|
--gcs:send_text(0, string.format("Up Lat: %.2f, Up lon: %.2f", avoidance_result.new_target_loc:lat(),avoidance_result.new_target_loc:lng()))
|
||||||
|
return avoidance_result.avoidance_needed
|
||||||
|
end
|
||||||
|
else
|
||||||
|
--gcs:send_text(0, "No calculation performed")
|
||||||
|
end
|
||||||
|
|
||||||
|
-- Return false if no valid avoidance result is available
|
||||||
|
return false
|
||||||
|
end
|
||||||
|
|
||||||
|
function update()
|
||||||
|
--gcs:send_text(0, "Lua running")
|
||||||
|
-- Check if the 'avoid' function is available
|
||||||
|
if avoid == nil then
|
||||||
|
gcs:send_text(0, "AP_Avoidance singleton not available")
|
||||||
|
return
|
||||||
|
end
|
||||||
|
|
||||||
|
|
||||||
|
current_loc = ahrs:get_position()
|
||||||
|
target_loc= vehicle:get_target_location()
|
||||||
|
local current_target
|
||||||
|
if target_loc ~=nil then
|
||||||
|
current_target=target_loc:copy()
|
||||||
|
--gcs:send_text(0, "Update_Current_target")
|
||||||
|
end
|
||||||
|
--gcs:send_text(0, string.format("Original pos: Lat: %.2f, Lon: %.2f", target_loc:lat(),target_loc:lng()))
|
||||||
|
|
||||||
|
|
||||||
|
if flag==0 and target_loc ~=nil then
|
||||||
|
current_target_s=target_loc:copy()
|
||||||
|
end
|
||||||
|
--gcs:send_text(0, string.format("Current_targ Latitude: %.2f, Current_targ longitude: %.2f", current_target:lat(),current_target:lng()))
|
||||||
|
local groundspeed=ahrs:groundspeed_vector():length()
|
||||||
|
if not current_loc then
|
||||||
|
gcs:send_text(0, "Not current position")
|
||||||
|
return update, 100
|
||||||
|
else
|
||||||
|
if mission_clear(current_loc, 400, 100, 25)== true then
|
||||||
|
gcs:send_text(6, "Mission clear")
|
||||||
|
if target_loc ~=nil then
|
||||||
|
if target_loc:lng()~=current_target_s:lng() and flag==1 then
|
||||||
|
vehicle:update_target_location(current_target, current_target_s)
|
||||||
|
flag=0
|
||||||
|
gcs:send_text(4, "Returning to path")
|
||||||
|
end
|
||||||
|
end
|
||||||
|
else
|
||||||
|
if target_loc then
|
||||||
|
--gcs:send_text(0, "Calculating mission avoidance")
|
||||||
|
if mission_avoidance(current_loc, target_loc, groundspeed)==true then
|
||||||
|
--gcs:send_text(0, "Updating target")
|
||||||
|
--vehicle:set_mode(15)
|
||||||
|
vehicle:update_target_location(current_target, target_loc)
|
||||||
|
--vehicle:set_target_location(target_loc)
|
||||||
|
--gcs:send_text(0, string.format("New pos: Lat: %.2f, Lon: %.2f", target_loc:lat(),target_loc:lng()))
|
||||||
|
gcs:send_text(4, "Updating target")
|
||||||
|
flag=1
|
||||||
|
end
|
||||||
|
gcs:send_text(0, "Mission not clear")
|
||||||
|
|
||||||
|
end
|
||||||
|
|
||||||
|
|
||||||
|
end
|
||||||
|
end
|
||||||
|
|
||||||
|
return update, 100
|
||||||
|
end
|
||||||
|
|
||||||
|
return update,100
|
||||||
Loading…
Reference in New Issue