107 Commits

Author	SHA1	Message	Date
Randy Mackay	f27cf8d388	AC_Avoidance: add adjust_velocity that accepts Vector3f for convenience ... We should actually modify this function to scale back the z axis in order to avoid breaching the vertical fence. Currently breaching the vertical fence is handled within the position controller which is inconsistent.	2016-07-25 20:24:37 +09:00
Peter Barker	692ff22453	AC_Avoid: move closest_point to AP_Math	2016-07-25 20:24:37 +09:00
Daniel Ricketts	865aad7598	AC_Avoid: add support for stopping at polygon fence	2016-06-25 15:55:55 +09:00
Randy Mackay	26a6234a29	AC_Avoid: do not attempt to stop at circular fence if already breached	2016-06-25 15:55:55 +09:00
Randy Mackay	c6f9889a25	AC_Avoid: constify get_max_speed ... Also get_stopping_distance and get_margin	2016-06-25 15:55:55 +09:00
Randy Mackay	a427768087	AC_Avoidance: reduce maximum acceleration to 1m/s/s ... This makes the vehicle slow very gently as it approaches the edge of the fence	2016-06-22 11:38:15 +09:00
Daniel Ricketts	ff7bc7c0cb	AC_Avoidance: add library to stop at circular fence	2016-06-22 11:38:15 +09:00