change feature name from CollisionAvoidance to CollisionPrevention

src/lib/CMakeLists.txt

@@ -56,4 +56,4 @@ add_subdirectory(terrain_estimation)
 add_subdirectory(tunes)
 add_subdirectory(version)
 add_subdirectory(WeatherVane)
-add_subdirectory(CollisionAvoidance)
+add_subdirectory(CollisionPrevention)

src/lib/CollisionPrevention/CMakeLists.txt

@@ -31,4 +31,4 @@
 #
 ############################################################################
 
-px4_add_library(CollisionAvoidance CollisionAvoidance.cpp)
+px4_add_library(CollisionPrevention CollisionPrevention.cpp)

src/lib/CollisionPrevention/CollisionPrevention.cpp

@@ -32,31 +32,33 @@
  ****************************************************************************/
 
 /**
- * @file CollisionAvoidance.cpp
- * CollisionAvoidance controller.
+ * @file CollisionPrevention.cpp
+ * CollisionPrevention controller.
  *
  */
 
-#include "CollisionAvoidance.hpp"
+#include <CollisionPrevention/CollisionPrevention.hpp>
 
 
-CollisionAvoidance::CollisionAvoidance() :
+CollisionPrevention::CollisionPrevention() :
 	ModuleParams(nullptr)
 {
 
 }
 
-CollisionAvoidance::~CollisionAvoidance(){
+CollisionPrevention::~CollisionPrevention()
+{
 	//unadvertise publishers
 	if (_constraints_pub != nullptr) {
 		orb_unadvertise(_constraints_pub);
 	}
+
 	if (_mavlink_log_pub != nullptr) {
 		orb_unadvertise(_mavlink_log_pub);
 	}
 }
 
-bool CollisionAvoidance::initializeSubscriptions(SubscriptionArray &subscription_array)
+bool CollisionPrevention::initializeSubscriptions(SubscriptionArray &subscription_array)
 {
 	if (!subscription_array.get(ORB_ID(obstacle_distance), _sub_obstacle_distance)) {
 		return false;
@@ -65,7 +67,7 @@ bool CollisionAvoidance::initializeSubscriptions(SubscriptionArray &subscription
 	return true;
 }
 
-void CollisionAvoidance::reset_constraints()
+void CollisionPrevention::reset_constraints()
 {
 
 	_move_constraints_x_normalized(0) = 0.0f;  //normalized constraint in negative x-direction
@@ -80,7 +82,7 @@ void CollisionAvoidance::reset_constraints()
 
 }
 
-void CollisionAvoidance::publish_constraints(const Vector2f &original_setpoint, const Vector2f &adapted_setpoint)
+void CollisionPrevention::publish_constraints(const Vector2f &original_setpoint, const Vector2f &adapted_setpoint)
 {
 
 	collision_constraints_s	constraints;	/**< collision constraints message */
@@ -107,10 +109,10 @@ void CollisionAvoidance::publish_constraints(const Vector2f &original_setpoint,
 
 }
 
-void CollisionAvoidance::update()
+void CollisionPrevention::update()
 {
-	// activate/deactivate the collision avoidance based on MPC_COL_AVOID parameter
-	if (collision_avoidance_enabled()) {
+	// activate/deactivate the collision prevention based on MPC_COL_PREV parameter
+	if (collision_prevention_enabled()) {
 		activate();
 
 	} else {
@@ -118,7 +120,7 @@ void CollisionAvoidance::update()
 	}
 }
 
-void CollisionAvoidance::update_range_constraints()
+void CollisionPrevention::update_range_constraints()
 {
 	obstacle_distance_s obstacle_distance = _sub_obstacle_distance->get();
 
@@ -132,8 +134,8 @@ void CollisionAvoidance::update_range_constraints()
 				float distance = obstacle_distance.distances[i] / 100.0f; //convert to meters
 				float angle = i * obstacle_distance.increment * (M_PI / 180.0);
 				//calculate normalized velocity reductions
-				float vel_lim_x = (max_detection_distance - distance) / (max_detection_distance - MPC_COL_AVOID_D.get()) * cos(angle);
-				float vel_lim_y = (max_detection_distance - distance) / (max_detection_distance - MPC_COL_AVOID_D.get()) * sin(angle);
+				float vel_lim_x = (max_detection_distance - distance) / (max_detection_distance - MPC_COL_PREV_D.get()) * cos(angle);
+				float vel_lim_y = (max_detection_distance - distance) / (max_detection_distance - MPC_COL_PREV_D.get()) * sin(angle);
 
 				if (vel_lim_x > 0 && vel_lim_x > _move_constraints_x_normalized(1)) { _move_constraints_x_normalized(1) = vel_lim_x; }
 
@@ -151,7 +153,7 @@ void CollisionAvoidance::update_range_constraints()
 	}
 }
 
-void CollisionAvoidance::modifySetpoint(Vector2f &original_setpoint, const float max_speed)
+void CollisionPrevention::modifySetpoint(Vector2f &original_setpoint, const float max_speed)
 {
 	update();
 	reset_constraints();
@@ -191,7 +193,7 @@ void CollisionAvoidance::modifySetpoint(Vector2f &original_setpoint, const float
 	new_setpoint(0) = math::constrain(original_setpoint(0), -_move_constraints_x(0), _move_constraints_x(1));
 	new_setpoint(1) = math::constrain(original_setpoint(1), -_move_constraints_y(0), _move_constraints_y(1));
 
-	//warn user if collision avoidance starts to interfere
+	//warn user if collision prevention starts to interfere
 	bool currently_interfering = (new_setpoint(0) < 0.95f * original_setpoint(0)
 				      || new_setpoint(0) > 1.05f * original_setpoint(0) || new_setpoint(1) < 0.95f * original_setpoint(1)
 				      || new_setpoint(1) > 1.05f * original_setpoint(1));

src/lib/CollisionPrevention/CollisionPrevention.hpp

@@ -32,10 +32,10 @@
  ****************************************************************************/
 
 /**
- * @file CollisionAvoidance.hpp
+ * @file CollisionPrevention.hpp
  * @author Tanja Baumann <tanja@auterion.com>
  *
- * CollisionAvoidance controller.
+ * CollisionPrevention controller.
  *
  */
 
@@ -58,12 +58,12 @@ using uORB::Publication;
 using namespace matrix;
 using namespace time_literals;
 
-class CollisionAvoidance : public ModuleParams
+class CollisionPrevention : public ModuleParams
 {
 public:
-	CollisionAvoidance();
+	CollisionPrevention();
 
-	~CollisionAvoidance();
+	~CollisionPrevention();
 
 	/**
 	 * Initialize the uORB subscriptions using an array
@@ -77,7 +77,7 @@ public:
 
 	bool is_active() {return _is_active;}
 
-	bool collision_avoidance_enabled() { return MPC_COL_AVOID.get(); }
+	bool collision_prevention_enabled() { return MPC_COL_PREV.get(); }
 
 	void update();
 
@@ -92,7 +92,7 @@ public:
 private:
 
 	bool _is_active = true;
-	bool _interfering = false;		/**< states if the collision avoidance interferes with the user input */
+	bool _interfering = false;		/**< states if the collision prevention interferes with the user input */
 
 	orb_advert_t _constraints_pub{nullptr};		/**< constraints publication */
 	orb_advert_t _mavlink_log_pub = nullptr;	 	/**< Mavlink log uORB handle */
@@ -110,8 +110,8 @@ private:
 	Vector2f _move_constraints_y;
 
 	DEFINE_PARAMETERS(
-		(ParamInt<px4::params::MPC_COL_AVOID>) MPC_COL_AVOID, /**< use range sensor measurements to avoid collision */
-		(ParamFloat<px4::params::MPC_COL_AVOID_D>) MPC_COL_AVOID_D /**< collision avoidance keep minimum distance */
+		(ParamInt<px4::params::MPC_COL_PREV>) MPC_COL_PREV, /**< use range sensor measurements to prevent collision */
+		(ParamFloat<px4::params::MPC_COL_PREV_D>) MPC_COL_PREV_D /**< collision prevention keep minimum distance */
 	)
 
 };

src/lib/FlightTasks/tasks/ManualPosition/FlightTaskManualPosition.cpp

@@ -47,7 +47,7 @@ bool FlightTaskManualPosition::initializeSubscriptions(SubscriptionArray &subscr
 		return false;
 	}
 
-	if (!_collision_avoidance.initializeSubscriptions(subscription_array)) {
+	if (!_collision_prevention.initializeSubscriptions(subscription_array)) {
 		return false;
 	}
 
@@ -127,9 +127,9 @@ void FlightTaskManualPosition::_scaleSticks()
 	/* Rotate setpoint into local frame. */
 	_rotateIntoHeadingFrame(vel_sp_xy);
 
-	// collision avoidance
-	if (_collision_avoidance.is_active()) {
-		_collision_avoidance.modifySetpoint(vel_sp_xy, _constraints.speed_xy);
+	// collision prevention
+	if (_collision_prevention.is_active()) {
+		_collision_prevention.modifySetpoint(vel_sp_xy, _constraints.speed_xy);
 	}
 
 	_velocity_setpoint(0) = vel_sp_xy(0);

src/lib/FlightTasks/tasks/ManualPosition/FlightTaskManualPosition.hpp

@@ -40,8 +40,8 @@
 
 #pragma once
 
+#include <CollisionPrevention/CollisionPrevention.hpp>
 #include "FlightTaskManualAltitude.hpp"
-#include <lib/CollisionAvoidance/CollisionAvoidance.hpp>
 
 class FlightTaskManualPosition : public FlightTaskManualAltitude
 {
@@ -77,5 +77,5 @@ private:
 	WeatherVane *_weathervane_yaw_handler =
 		nullptr;	/**< external weathervane library, used to implement a yaw control law that turns the vehicle nose into the wind */
 
-	CollisionAvoidance _collision_avoidance;	/**< collision avoidance setpoint amendment */
+	CollisionPrevention _collision_prevention;	/**< collision avoidance setpoint amendment */
 };

src/modules/mc_pos_control/CMakeLists.txt

@@ -45,5 +45,5 @@ px4_add_module(
 		git_ecl
 		ecl_geo
 		WeatherVane
-		CollisionAvoidance
+		CollisionPrevention
 	)

src/modules/mc_pos_control/mc_pos_control_params.c

@@ -744,7 +744,7 @@ PARAM_DEFINE_INT32(MPC_YAW_MODE, 0);
  * @boolean
  * @group Multicopter Position Control
  */
-PARAM_DEFINE_INT32(MPC_COL_AVOID, 0);
+PARAM_DEFINE_INT32(MPC_COL_PREV, 0);
 
 /**
  * Minimum distance the vehicle should keep to all obstacles
@@ -756,4 +756,4 @@ PARAM_DEFINE_INT32(MPC_COL_AVOID, 0);
  * @unit meters
  * @group Multicopter Position Control
  */
-PARAM_DEFINE_FLOAT(MPC_COL_AVOID_D, 4.0f);
+PARAM_DEFINE_FLOAT(MPC_COL_PREV_D, 4.0f);