14 Commits

Author	SHA1	Message	Date
Randy Mackay	b114d3928e	AC_Avoid: fix distance to lean angle logic ... Fixes from PR review including (a) make some local variables const (b) rename angle_max to veh_angle_max (c) fix distance_to_lean_pct logic so distance of zero returns maximum lean angle	2016-12-20 19:48:04 +09:00
Randy Mackay	1b582b2009	AC_Avoid: avoidance for non-GPS flight modes	2016-12-20 19:47:58 +09:00
Randy Mackay	b46cc623a0	AC_Avoidance: adjust_velocity_polygon accepts body-frame points	2016-11-27 15:05:42 +09:00
Randy Mackay	55d79d9a32	AC_Avoidance: proximity sensor method re-uses polygon fence boundary code	2016-11-27 15:05:41 +09:00
Randy Mackay	cdee68174d	AC_Avoidance: rename adjust_velocity_polygon_fence	2016-11-27 15:05:39 +09:00
Randy Mackay	79280036de	AC_Avoidance: rename adjust_velocity_circle_fence method	2016-11-27 15:05:38 +09:00
Randy Mackay	40c4e75ae7	AC_Avoidance: remove unnecessary const float arguments	2016-11-27 15:05:36 +09:00
Randy Mackay	4808664fb6	AC_Avoidance: allow use of AP_Proximity	2016-10-13 20:21:07 +09:00
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	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