37a14a78df
AC_Avoid: Refactor changes for 3-D avoidance
4 years ago
5092bc2f6d
AC_Avoid: Simplify accessing boundary
4 years ago
d359c5ddf2
AC_Avoid: Let user take control if they are backing away at a greater speed than what we have calculated
4 years ago
91132d00d9
AC_Avoid: Add deadzone to backaway code
4 years ago
ad6e013171
AC_Avoid: Support 3D Simple Avoidance and Bacakway
4 years ago
4e2c7880c5
AC_Avoidance: use AP_Math control functions
4 years ago
68b6ecc59c
AC_Avoid: Mark OA_OPTIONS as a Rover-Only param
4 years ago
f5172cdecf
AC_Avoid: hide params with enable flag
4 years ago
caf5bfed59
AC_Avoid: Added new OA type (Dijkstra + BendyRuler fusion)
5 years ago
b62455fd3f
AC_Avoid: Extend BendyRuler to search for paths up and down
5 years ago
79a4b8fa32
AC_Avoid: Add feature to reject obstacles near home loc
5 years ago
0b112981f9
AC_Avoid: Back away if vehicle breaches margin to obstacle/fence
5 years ago
0b8f722dbd
AC_Avoid: Remove extra margin used in stop behaviour in circular fences
5 years ago
6e693596d6
AC_Avoid: Do not show unused param in Rover
5 years ago
7dd7565d14
AC_Avoid: Improve BendyRuler hesitancy by avoiding significant bearing change
5 years ago
47e4e9f7c9
AC_Avoid: Store 3D data in OA_DB and use 3D distance in BendyRuler
5 years ago
15f25aa2a5
AC_Avoid: Skip unnecessary retries to build inner fences
5 years ago
4ec8602de2
AC_Avoid: Remove unnecessary sanity checks
5 years ago
34b17d0993
AC_Avoid: Check if origin is set before any obstacle avoidance algorithm is run
5 years ago
44f0aef5e9
AP_OAPathPlanner: Add param to reset WP origin while recovering from Bendy
5 years ago
002d47447e
AC_Avoidance: rename APMrover2 to Rover
5 years ago
556d90ca0c
AC_Avoidance: keep track of velocity liminting status
5 years ago
48486d259f
AC_Avoidance: make all semaphores recursive
...
the cost is very similar and this prevents an easy coding error which
can occur on less used code paths
5 years ago
2e02ee1df8
AP_OADatabase: send_adsb uses vehicle's current altitude
5 years ago
985a15709a
AP_OADatabase: available regardless of hal-minimize-features
...
In Copter with minimize feature set the entire AP_PathPlanning feature including the database are unavailable
Rover has enough space for the database even with minimise features set
5 years ago
50b4dd2599
AP_OAPathPlanner: slow updates to 1hz, timeout to 3sec
5 years ago
28e707466b
AP_OABendyRuler: integrate oadb ekf-offset change
5 years ago
fe5ba3ccdb
AP_OADatabase: replace Location with offset from origin
5 years ago
37f2fc3ffe
AP_OABendyRuler: integrate static object radius
5 years ago
674d631fb1
AP_OADatabase: calculate object radius based on distance and beam width
...
also all object database items are normal importance
5 years ago
1ba5f4626d
AP_OADatabase: remove unnecessary const on arguments
...
also swap order of angle and distance arguments to be consistent with proximity library
5 years ago
0d624785f3
AC_Avoid: adjust for proximity status namespace change
5 years ago
0d032ecd86
AC_Avoidance: add enabled and margin accessors
5 years ago
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
5 years ago
f3b0148719
AP_OADijkstra: cope with polyfence holding boundary points
5 years ago
dfca32a2af
AP_OABendyRuler: cope with polyfence holding boundary points
5 years ago
3a7f1b882e
AC_Avoidance: cope with polyfence holding boundary points
5 years ago
aba4a1fdc8
AC_Avoidance: remove OADatabase check that can never be true
5 years ago
a8fd04ddf9
AC_Avoidance: Dijkstra's returns oa-not-required if path has been completed
6 years ago
452be5fd94
AC_Avoidance: Dijkstra skips calcs if current loc is same as destination
6 years ago
bed21b43e1
AP_OAPathPlanner: minor fix to return original origin and dest upon failure
...
this has no functional effect because the consumers are not using the origin_new and destination_new unless the ret_state was OA_SUCCESS
6 years ago
a1a2733926
AC_Avoidance: reduce OA path planner look ahead and margin param defaults
6 years ago
488d1ab60a
AC_Avoidance: replace Write_OA with Write_OABendyRuler and Write_OADijkstra
6 years ago
9ad6d14c16
AC_Avoidance: add Object Avoidance Database
6 years ago
84ba6e859c
AP_OADijkstra: redo visgraphs if polyfence is changed
6 years ago
ec0a93ff9c
AC_Avoidance: add missing includes for AP_AHRS
6 years ago
bd3d352554
AC_Avoidance: remove comment from Dijkstra's
6 years ago
655ddd4ab3
AC_Avoidance: Dijkstra's ignores invalid polygon fences
6 years ago
951ded1f51
AP_OAPathPlanner: report errors to caller
6 years ago
0b62641a46
AC_Avoidance: fix Dijkstra's iteration through polygon fence points
6 years ago
Rishabh
Leonard Hall
Iampete1
Peter Barker
Peter Hall
Andrew Tridgell
Randy Mackay
Tom Pittenger