Randy Mackay
995ff30cd6
AC_Avoid: enable slide behaviour for rover
2022-03-30 15:34:14 +09:00
Andrew Tridgell
2435c9451c
AC_Avoidance: don't build avoidance on plane
...
this catches uses of avoidance which cause it to be linked in
2022-01-11 09:51:47 +11:00
Andy Piper
f9b6934d7d
AC_Avoidance: convert APM_BUILD_COPTER_OR_HELI() to APM_BUILD_COPTER_OR_HELI
2021-10-26 11:42:12 +11:00
Gone4Dirt
765f6b69fa
AC_Avoidance: Add APM_BUILD_Heli
2021-09-29 19:55:48 +10:00
Josh Henderson
c0b18e4d52
AC_Avoid: use vector.xy().length() instead of norm(x,y)
2021-09-14 10:43:46 +10:00
Tatsuya Yamaguchi
43da962d34
AC_Avoid: use proximity_avoidance_enabled function
2021-08-02 08:52:41 +09:00
Tatsuya Yamaguchi
04deabbacb
AC_Avoid: confirm USE_PROXIMITY_SENSOR to check if proximity is enabled
2021-08-02 08:52:41 +09:00
Tatsuya Yamaguchi
4f12c94346
AC_Avoidance: handle upward proximity enable and disable
2021-07-30 12:04:50 +10:00
Peter Barker
5d52053232
AC_Avoidance: remove @Values from param metadata where @Bitmask exists
2021-06-23 18:37:34 +10:00
Rishabh
9a1a748348
AC_Avoid: Change ALT_MIN param to be copter only
2021-06-12 13:31:52 +09:00
Rishabh
730cf0ad9b
AC_Avoid: Add deadzone param to avoidance backaway
2021-06-12 13:31:52 +09:00
Rishabh
b301bd0ca4
AC_Avoid: Use plane intersection in prox stop mode
2021-06-12 13:31:52 +09:00
Hwurzburg
8903b8619a
AC_Avoidance: make centideg metadata incr and range consistent
2021-05-25 10:10:18 +10:00
Rishabh
7e79999b86
AC_Avoid: reenable avoidance logging
2021-05-09 19:07:22 -04:00
Rishabh
e31ea2f3ee
AC_Avoid: Change parameter defaults
2021-04-05 13:43:28 +09:00
Randy Mackay
f67cdf5a81
AC_Avoidance: use of AP_Proximity checks HAL_PROXIMITY_ENABLED
2021-03-26 16:22:46 +09:00
Rishabh
98287a1b2f
AC_Avoid: Use previous avoidance vel for limiting accel
2021-02-16 20:08:00 +09:00
Rishabh
cbf57af1f3
AC_Avoid: Limit acceleration while simple avoidance is active
2021-02-16 20:08:00 +09:00
Rishabh
865f3cda79
AC_Avoid: Add param to switch off proximity avoidance based on alt
2021-02-16 20:08:00 +09:00
Rishabh
74bda4952d
AC_Avoid: Return early if velocity is unchanged in proximity avoidance
2021-02-12 16:48:16 +09:00
Rishabh
37a14a78df
AC_Avoid: Refactor changes for 3-D avoidance
2021-02-01 14:34:13 +09:00
Rishabh
5092bc2f6d
AC_Avoid: Simplify accessing boundary
2021-02-01 14:34:13 +09:00
Rishabh
d359c5ddf2
AC_Avoid: Let user take control if they are backing away at a greater speed than what we have calculated
2021-02-01 14:34:13 +09:00
Rishabh
91132d00d9
AC_Avoid: Add deadzone to backaway code
2021-02-01 14:34:13 +09:00
Rishabh
ad6e013171
AC_Avoid: Support 3D Simple Avoidance and Bacakway
2021-02-01 14:34:13 +09:00
Leonard Hall
4e2c7880c5
AC_Avoidance: use AP_Math control functions
2021-01-20 18:19:40 +11:00
Iampete1
f5172cdecf
AC_Avoid: hide params with enable flag
2020-09-14 08:54:13 +09:00
Rishabh
0b112981f9
AC_Avoid: Back away if vehicle breaches margin to obstacle/fence
2020-08-05 15:37:04 +09:00
Rishabh
0b8f722dbd
AC_Avoid: Remove extra margin used in stop behaviour in circular fences
2020-07-15 15:50:18 +09:00
Rishabh
6e693596d6
AC_Avoid: Do not show unused param in Rover
2020-07-15 15:50:18 +09:00
Rishabh
4ec8602de2
AC_Avoid: Remove unnecessary sanity checks
2020-06-17 16:43:27 +09:00
Peter Barker
002d47447e
AC_Avoidance: rename APMrover2 to Rover
2020-04-14 09:50:34 +09:00
Peter Hall
556d90ca0c
AC_Avoidance: keep track of velocity liminting status
2020-02-04 10:24:33 +09:00
Peter Barker
0d624785f3
AC_Avoid: adjust for proximity status namespace change
2019-10-31 11:58:15 +08:00
Randy Mackay
9aeac012d2
AC_Avoid: add support for complex fence types
...
AP_OABendyRuler: support exclusion polygons
AP_OADijkstra: support exclusion polygons
AC_Avoid: adjust_velocity supports exclusion polygons
AC_Avoidance: handle fence::get_boundary_points returning nullptr instead of setting num_points to zero
AC_Avoidance: Dijkstra's works with only exclusion polygons
AC_Avoidance: Dijkstra: check for fence counts instead of polyfence validity
We really only care whether fences can be returned - and they won't be
returned unless they are valid
AC_Avoidance: BendyRuler: just try to get inclusion fence rather than checking validity
AC_Avoidance: BendyRuler supports exclusion circles
AC_Avoid: Dijkstra support for exclusion circles
AC_Avoid: BendyRuler support for inclusion circles
AC_Avoid: stop an inclusion/exclusion circular fences
AC_Avoid: stop at inclusion/exclusion circular fences
AC_Avoid: fixes to Dijkstra's use of inclusion/exclusion circles and polygons
AP_Avoidance: take semaphores when interacting with AHRS and polyfence
AC_Avoid: Dijkstra's fix for some_fences_enabled inclusion circles
2019-09-28 07:58:48 +09:00
Peter Barker
3a7f1b882e
AC_Avoidance: cope with polyfence holding boundary points
2019-09-28 07:58:48 +09:00
Randy Mackay
0a86bbdc9a
AC_Avoidance: add license to cpp file
2019-06-11 13:13:22 +09:00
Randy Mackay
607f996232
AC_Avoid: restructure logic of adjust_velocity_circle_fence
2019-06-08 09:35:36 +09:00
Randy Mackay
e846840a52
AC_Avoid: fix stopping at circular fence
2019-06-08 09:35:36 +09:00
Peter Barker
35d4555be0
AC_Avoid: improve documentation of AVOID_ENABLE options
2019-06-07 17:37:00 +09:00
Peter Barker
e9160cd9d5
AC_Avoid: correct iteration through edges
2019-06-04 09:06:07 +09:00
Peter Barker
cd6e5b48a1
AC_Avoid: move check for zero-desired-velocity into adjust_velocity_polygon
...
This is the method which divides by the length of this vector; the
check belongs in here.
2019-06-04 09:06:07 +09:00
Peter Barker
de9fa4c730
AC_Avoid: call Polygon_outside directly; avoids losing first point
2019-05-29 15:34:02 +10:00
Peter Barker
4be3a48275
AC_Avoid: adjust for renamed get_polygon_points
2019-05-29 15:34:02 +10:00
Peter Barker
43152a416c
AC_Avoid: stop taking references to ahrs, fence, proximity and beacon
2019-05-22 07:48:02 -06:00
Peter Barker
413ef5a3b4
AC_Avoid: add singleton
2018-10-30 12:10:42 +11:00
Randy Mackay
7aae970ae7
AC_Avoid: constify a few local variables
2018-10-26 14:38:04 +09:00
Randy Mackay
b7f3140441
AC_Avoid: stop includes margin for intersection calc
...
the simpler stop feature (as opposed to slide) was not including the margin when looking for intersections with the boundary meaning it could slow too late
2018-10-26 14:38:04 +09:00
JIMWAR
97b5af60f8
AC_Avoid: fix adjust_velocity_polygon
...
adjust_velocity_polygon function ignoring boundary[0]
2018-10-24 15:37:14 +09:00
murata
3577def8fd
AC_Avoid: use elseif because value does not change
2018-04-23 19:45:50 +09:00