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24 Commits

Author SHA1 Message Date
Andras Schaffer 4201a807fc AP_Proximity: fix proximity ignored zone calulation 
It seems there was a typo in the checking of proximity ignored zones.
 2020-06-12 16:51:37 +09:00
Randy Mackay 69e85d2e08 AP_Proximity: integrate oadb ekf-offset change 2020-05-11 10:22:10 +09:00
Randy Mackay 80d8889d14 AP_Proximity: remove unused get_horizontal_distance 2020-05-11 10:22:01 +09:00
Randy Mackay e74676ad05 AP_Proximity: always use 8 sectors and fix ignore areas 2020-05-11 10:20:42 +09:00
Randy Mackay b8458d9cb4 AP_Proximity: integrate oadb::queue_push argument swap 2020-05-11 09:50:53 +09:00
Randy Mackay f6bc33ea2f AP_Proximity: remove unnecessary const from database_push 
also shorten current_vehicle_bearing argument to just current_heading
 2020-05-11 09:50:50 +09:00
Peter Barker 31fbfa8d6e AP_Proximity: use enum class for status 2019-12-16 14:59:48 +09:00
Tom Pittenger b8dcdca909 AP_Proximity: add Object Avoidance Database, remove old Sector->Location converter 2019-08-02 09:50:13 -06:00
Randy Mackay 9c3812e384 AP_Proximity: move copy_locations to backend 
also remove unused get_locations
also fix comment for copy_locations method
 2019-06-11 13:13:22 +09:00
Tom Pittenger b792fe4b26 AP_Proximity: add Location* object and accessors 2019-06-11 13:13:22 +09:00
Peter Barker dbbf09d018 AP_Proximity: minor performance enhancements 2019-05-28 09:19:48 +10:00
khancyr f60e7df309 AP_Proximity: correct missing use of PROXIMITY_MAX_DIRECTION 2017-07-14 18:59:36 +01:00
Pierre Kancir 38540b4dcc AP_Proximity: add PROXIMITY_MAX_DIRECTION and PROXIMITY_SENSOR_ID_START 2017-06-08 01:22:07 +01:00
Randy Mackay 3ad5c3775e AP_Proximity: rename get_distances to get_horizontal_distances 
Also fix existing bug in return
 2017-04-20 18:11:43 +09:00
Randy Mackay 74f1899aeb AP_Proximity: boundary_points requires only one valid distance 
Object avoidance is possible with just one valid distance
Boundary is initialised in new init_boundary function to be 100m from
vehicle
If sectors do not have valid distance measurements, we use the distance
from adjacent sectors.  This conveniently leads to a concave shaped
boundary that keeps the vehicle from travelling into the dataless sector.
 2017-01-11 21:48:23 +09:00
Randy Mackay fbbd13db75 AP_Proximity: add get_object methods for use with non-GPS avoidance 2016-12-20 19:47:56 +09:00
Randy Mackay 54a87ad35c AP_Proximity: set minimum boundary distance 
AC_Avoidance will not stop if it thinks the vehicle is on or outside the polygon.  Setting a minimum distance ensures the vehicle is always within the polygon.
 2016-11-27 15:05:48 +09:00
Randy Mackay 57ae14ab4c AP_Proximity: add get distances, distance_max, distance_min 
These are used to send distance-sensor messages to the ground station
 2016-11-27 15:05:45 +09:00
Randy Mackay 6293fa1595 AP_Proximity: add boundary points for object avoidance 
This returns a fence which can be used for object avoidance by AC_Avoidance
 2016-11-27 15:05:35 +09:00
Randy Mackay 26332251f5 AP_Proximity: add ignore areas 
Only SF40c uses these ignore areas for now at least.
It is safe to increase the eeprom locations for the 2nd proximity instance because we only define a single instance.
 2016-11-27 15:05:27 +09:00
Randy Mackay 87dea46f5d AP_Proximity: add get_closet_object for use in pre-arm checks 2016-11-27 12:03:06 +09:00
Randy Mackay f594a5a7d6 AP_Proximity: move sectors to backend 
This prepares for sectors to be re-used by the SITL driver
 2016-11-27 12:03:01 +09:00
Mathieu OTHACEHE 152edf7189 Global: remove mode line from headers 
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
 2016-10-24 09:42:01 -02:00
Randy Mackay c3087edbe8 AP_Proximity: add library and SF40C driver 2016-10-13 20:21:07 +09:00