Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AC_Fence: plane needs larger circle backup distance

This commit is contained in:
Iampete1 2022-08-06 21:43:38 +01:00 committed by Andrew Tridgell
parent df6a5f0e0d
commit e7cb949f5f
2 changed files with 16 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
libraries/AC_Fence/AC_Fence.cpp
View File

@ -24,6 +24,22 @@ extern const AP_HAL::HAL& hal;
#define AC_FENCE_TYPE_DEFAULT AC_FENCE_TYPE_ALT_MAX | AC_FENCE_TYPE_CIRCLE | AC_FENCE_TYPE_POLYGON
#endif
// default boundaries
#define AC_FENCE_ALT_MAX_DEFAULT 100.0f // default max altitude is 100m
#define AC_FENCE_ALT_MIN_DEFAULT -10.0f // default maximum depth in meters
#define AC_FENCE_CIRCLE_RADIUS_DEFAULT 300.0f // default circular fence radius is 300m
#define AC_FENCE_ALT_MAX_BACKUP_DISTANCE 20.0f // after fence is broken we recreate the fence 20m further up
#define AC_FENCE_ALT_MIN_BACKUP_DISTANCE 20.0f // after fence is broken we recreate the fence 20m further down
#define AC_FENCE_MARGIN_DEFAULT 2.0f // default distance in meters that autopilot's should maintain from the fence to avoid a breach
#define AC_FENCE_MANUAL_RECOVERY_TIME_MIN 10000 // pilot has 10seconds to recover during which time the autopilot will not attempt to re-take control
#if APM_BUILD_TYPE(APM_BUILD_ArduPlane)
#define AC_FENCE_CIRCLE_RADIUS_BACKUP_DISTANCE 100.0 // after fence is broken we recreate the fence 50m further out
#else
#define AC_FENCE_CIRCLE_RADIUS_BACKUP_DISTANCE 20.0 // after fence is broken we recreate the fence 20m further out
#endif
const AP_Param::GroupInfo AC_Fence::var_info[] = {
// @Param: ENABLE
// @DisplayName: Fence enable/disable

10
libraries/AC_Fence/AC_Fence.h
View File

@ -26,18 +26,8 @@
#define AC_FENCE_ACTION_GUIDED 6 // guided mode, with target waypoint as fence return point
#define AC_FENCE_ACTION_GUIDED_THROTTLE_PASS 7 // guided mode, but pilot retains manual throttle control
// default boundaries
#define AC_FENCE_ALT_MAX_DEFAULT 100.0f // default max altitude is 100m
#define AC_FENCE_ALT_MIN_DEFAULT -10.0f // default maximum depth in meters
#define AC_FENCE_CIRCLE_RADIUS_DEFAULT 300.0f // default circular fence radius is 300m
#define AC_FENCE_ALT_MAX_BACKUP_DISTANCE 20.0f // after fence is broken we recreate the fence 20m further up
#define AC_FENCE_ALT_MIN_BACKUP_DISTANCE 20.0f // after fence is broken we recreate the fence 20m further down
#define AC_FENCE_CIRCLE_RADIUS_BACKUP_DISTANCE 20.0f // after fence is broken we recreate the fence 20m further out
#define AC_FENCE_MARGIN_DEFAULT 2.0f // default distance in meters that autopilot's should maintain from the fence to avoid a breach
// give up distance
#define AC_FENCE_GIVE_UP_DISTANCE 100.0f // distance outside the fence at which we should give up and just land. Note: this is not used by library directly but is intended to be used by the main code
#define AC_FENCE_MANUAL_RECOVERY_TIME_MIN 10000 // pilot has 10seconds to recover during which time the autopilot will not attempt to re-take control
class AC_Fence
{