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AC_Avoid: Add deadzone param to avoidance backaway

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Rishabh 2021-06-03 00:26:39 +05:30 committed by Randy Mackay
parent b301bd0ca4
commit 730cf0ad9b
2 changed files with 12 additions and 4 deletions
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14
libraries/AC_Avoidance/AC_Avoid.cpp
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@ -97,6 +97,14 @@ const AP_Param::GroupInfo AC_Avoid::var_info[] = {
// @User: Standard // @User: Standard
AP_GROUPINFO("ACCEL_MAX", 8, AC_Avoid, _accel_max, 3.0f), AP_GROUPINFO("ACCEL_MAX", 8, AC_Avoid, _accel_max, 3.0f),
// @Param: BACKUP_DZ
// @DisplayName: Avoidance deadzone between stopping and backing away from obstacle
// @Description: Distance beyond AVOID_MARGIN parameter, after which vehicle will backaway from obstacles. Increase this parameter if you see vehicle going back and forth in front of obstacle.
// @Units: m
// @Range: 0 2
// @User: Standard
AP_GROUPINFO("BACKUP_DZ", 9, AC_Avoid, _backup_deadzone, 0.10f),
AP_GROUPEND AP_GROUPEND
}; };
@ -1163,14 +1171,14 @@ void AC_Avoid::adjust_velocity_proximity(float kP, float accel_cmss, Vector3f &d
if (is_negative(dist_to_boundary - margin_cm)) { if (is_negative(dist_to_boundary - margin_cm)) {
const float breach_dist = margin_cm - dist_to_boundary; const float breach_dist = margin_cm - dist_to_boundary;
// add a deadzone so that the vehicle doesn't backup and go forward again and again // add a deadzone so that the vehicle doesn't backup and go forward again and again
// the deadzone is hardcoded to be 10cm const float deadzone = MAX(0.0f, _backup_deadzone) * 100.0f;
if (breach_dist > AC_AVOID_MIN_BACKUP_BREACH_DIST) { if (breach_dist > deadzone) {
// this vector will help us decide how much we have to back away horizontally and vertically // this vector will help us decide how much we have to back away horizontally and vertically
const Vector3f margin_vector = vector_to_obstacle.normalized() * breach_dist; const Vector3f margin_vector = vector_to_obstacle.normalized() * breach_dist;
const float xy_back_dist = norm(margin_vector.x, margin_vector.y); const float xy_back_dist = norm(margin_vector.x, margin_vector.y);
const float z_back_dist = margin_vector.z; const float z_back_dist = margin_vector.z;
calc_backup_velocity_3D(kP, accel_cmss, quad_1_back_vel, quad_2_back_vel, quad_3_back_vel, quad_4_back_vel, xy_back_dist, vector_to_obstacle, kP_z, accel_cmss_z, z_back_dist, min_back_vel_z, max_back_vel_z, dt); calc_backup_velocity_3D(kP, accel_cmss, quad_1_back_vel, quad_2_back_vel, quad_3_back_vel, quad_4_back_vel, xy_back_dist, vector_to_obstacle, kP_z, accel_cmss_z, z_back_dist, min_back_vel_z, max_back_vel_z, dt);
} }
} }
if (desired_vel_cms.is_zero()) { if (desired_vel_cms.is_zero()) {

2
libraries/AC_Avoidance/AC_Avoid.h
View File

@ -19,7 +19,6 @@
#define AC_AVOID_ANGLE_MAX_PERCENT 0.75f // object avoidance max lean angle as a percentage (expressed in 0 ~ 1 range) of total vehicle max lean angle #define AC_AVOID_ANGLE_MAX_PERCENT 0.75f // object avoidance max lean angle as a percentage (expressed in 0 ~ 1 range) of total vehicle max lean angle
#define AC_AVOID_ACTIVE_LIMIT_TIMEOUT_MS 500 // if limiting is active if last limit is happend in the last x ms #define AC_AVOID_ACTIVE_LIMIT_TIMEOUT_MS 500 // if limiting is active if last limit is happend in the last x ms
#define AC_AVOID_MIN_BACKUP_BREACH_DIST 10.0f // vehicle will backaway if breach is greater than this distance in cm
#define AC_AVOID_ACCEL_TIMEOUT_MS 200 // stored velocity used to calculate acceleration will be reset if avoidance is active after this many ms #define AC_AVOID_ACCEL_TIMEOUT_MS 200 // stored velocity used to calculate acceleration will be reset if avoidance is active after this many ms
/* /*
@ -216,6 +215,7 @@ private:
AP_Float _backup_speed_max; // Maximum speed that will be used to back away (in m/s) AP_Float _backup_speed_max; // Maximum speed that will be used to back away (in m/s)
AP_Float _alt_min; // alt below which Proximity based avoidance is turned off AP_Float _alt_min; // alt below which Proximity based avoidance is turned off
AP_Float _accel_max; // maximum accelration while simple avoidance is active AP_Float _accel_max; // maximum accelration while simple avoidance is active
AP_Float _backup_deadzone; // distance beyond AVOID_MARGIN parameter, after which vehicle will backaway from obstacles
bool _proximity_enabled = true; // true if proximity sensor based avoidance is enabled (used to allow pilot to enable/disable) bool _proximity_enabled = true; // true if proximity sensor based avoidance is enabled (used to allow pilot to enable/disable)
bool _proximity_alt_enabled = true; // true if proximity sensor based avoidance is enabled based on altitude bool _proximity_alt_enabled = true; // true if proximity sensor based avoidance is enabled based on altitude