AP_Proximity: refactor changes done for 3-D Boundary

libraries/AP_Proximity/AP_Proximity.h

@@ -95,6 +95,7 @@ public:
     bool get_obstacle(uint8_t obstacle_num, Vector3f& vec_to_obstacle) const;
     
     // returns shortest distance to "obstacle_num" obstacle, from a line segment formed between "seg_start" and "seg_end"
+    // returns FLT_MAX if it's an invalid instance.
     float distance_to_obstacle(uint8_t obstacle_num, const Vector3f& seg_start, const Vector3f& seg_end, Vector3f& closest_point) const;
 
     // get distance and angle to closest object (used for pre-arm check)

libraries/AP_Proximity/AP_Proximity_AirSimSITL.cpp

@@ -21,7 +21,7 @@
 extern const AP_HAL::HAL& hal;
 
 #define PROXIMITY_MAX_RANGE 100.0f
-#define PROXIMITY_ACCURACY  0.1f        // minimum distance between objects sent to object database
+#define PROXIMITY_ACCURACY  0.1f        // minimum distance (in meters) between objects sent to object database
 
 // update the state of the sensor
 void AP_Proximity_AirSimSITL::update(void)
@@ -52,7 +52,7 @@ void AP_Proximity_AirSimSITL::update(void)
         }
 
         // calculate distance to point and check larger than min distance
-        const Vector2f new_pos = Vector2f(point.x, point.y);
+        const Vector2f new_pos = Vector2f{point.x, point.y};
         const float distance_sq = new_pos.length_squared();
         if (distance_sq > distance_min_sq) {
 

libraries/AP_Proximity/AP_Proximity_Backend.cpp

@@ -107,7 +107,7 @@ void AP_Proximity_Backend::database_push(float angle, float distance)
 
 // update Object Avoidance database with Earth-frame point
 // pitch can be optionally provided if needed
-void AP_Proximity_Backend::database_push(float angle, float distance, uint32_t timestamp_ms, const Vector3f &current_pos, const Matrix3f &body_to_ned, float pitch)
+void AP_Proximity_Backend::database_push(float angle, float pitch, float distance, uint32_t timestamp_ms, const Vector3f &current_pos, const Matrix3f &body_to_ned)
 {
     AP_OADatabase *oaDb = AP::oadatabase();
     if (oaDb == nullptr || !oaDb->healthy()) {

libraries/AP_Proximity/AP_Proximity_Backend.h

@@ -80,7 +80,10 @@ protected:
     static bool database_prepare_for_push(Vector3f &current_pos, Matrix3f &body_to_ned);
     // Note: "angle" refers to yaw (in body frame) towards the obstacle
     static void database_push(float angle, float distance);
-    static void database_push(float angle, float distance, uint32_t timestamp_ms, const Vector3f &current_pos, const Matrix3f &body_to_ned, float pitch = 0.0f);
+    static void database_push(float angle, float distance, uint32_t timestamp_ms, const Vector3f &current_pos, const Matrix3f &body_to_ned) {
+        database_push(angle, 0.0f, distance, timestamp_ms, current_pos, body_to_ned);
+    };
+    static void database_push(float angle, float pitch, float distance, uint32_t timestamp_ms, const Vector3f &current_pos, const Matrix3f &body_to_ned);
 
     AP_Proximity &frontend;
     AP_Proximity::Proximity_State &state;   // reference to this instances state

libraries/AP_Proximity/AP_Proximity_Boundary_3D.cpp

@@ -16,9 +16,9 @@ AP_Proximity_Boundary_3D::AP_Proximity_Boundary_3D()
 void AP_Proximity_Boundary_3D::init()
 {
     for (uint8_t layer=0; layer < PROXIMITY_NUM_LAYERS; layer++) {
+        const float pitch = ((float)_pitch_middle_deg[layer]);
         for (uint8_t sector=0; sector < PROXIMITY_NUM_SECTORS; sector++) {
-            float angle_rad = ((float)_sector_middle_deg[sector]+(PROXIMITY_SECTOR_WIDTH_DEG/2.0f));
-            float pitch = ((float)_pitch_middle_deg[layer]);
+            const float angle_rad = ((float)_sector_middle_deg[sector]+(PROXIMITY_SECTOR_WIDTH_DEG/2.0f));
             _sector_edge_vector[layer][sector].offset_bearing(angle_rad, pitch, 100.0f);
             _boundary_points[layer][sector] = _sector_edge_vector[layer][sector] * PROXIMITY_BOUNDARY_DIST_DEFAULT;
         }
@@ -26,19 +26,19 @@ void AP_Proximity_Boundary_3D::init()
 }
 
 // returns face corresponding to the provided yaw and (optionally) pitch
-// pitch is the vertical body-frame angle (in degrees) to the obstacle (0=directly ahead, 90 is above the vehicle?)
+// pitch is the vertical body-frame angle (in degrees) to the obstacle (0=directly ahead, 90 is above the vehicle)
 // yaw is the horizontal body-frame angle (in degrees) to the obstacle (0=directly ahead of the vehicle, 90 is to the right of the vehicle)
 AP_Proximity_Boundary_3D::Face AP_Proximity_Boundary_3D::get_face(float pitch, float yaw) const
 {   
     const uint8_t sector = wrap_360(yaw + (PROXIMITY_SECTOR_WIDTH_DEG * 0.5f)) / 45.0f;
     const float pitch_limited = constrain_float(pitch, -75.0f, 74.9f);
     const uint8_t layer = (pitch_limited + 75.0f)/PROXIMITY_PITCH_WIDTH_DEG;
-    return Face(layer, sector);
+    return Face{layer, sector};
 }
 
 // Set the actual body-frame angle(yaw), pitch, and distance of the detected object.
 // This method will also mark the sector and layer to be "valid", so this distance can be used for Obstacle Avoidance
-void AP_Proximity_Boundary_3D::set_face_attributes(Face face, float angle, float pitch, float distance)
+void AP_Proximity_Boundary_3D::set_face_attributes(const Face &face, float pitch, float angle, float distance)
 {
     if (!face.valid()) {
         return;
@@ -58,16 +58,22 @@ void AP_Proximity_Boundary_3D::set_face_attributes(Face face, float angle, float
 void AP_Proximity_Boundary_3D::add_distance(float pitch, float yaw, float distance)
 {
     Face face = get_face(pitch, yaw);
+    if (!face.valid()) {
+        return;
+    }
+    
     if (!_distance_valid[face.layer][face.sector] || (distance < _distance[face.layer][face.sector])) {
         _distance[face.layer][face.sector] = distance;
         _distance_valid[face.layer][face.sector] = true;
+        _angle[face.layer][face.sector] = yaw;
+        _pitch[face.layer][face.sector] = pitch;
     }
 }
 
 // update boundary points used for object avoidance based on a single sector and pitch distance changing
 //   the boundary points lie on the line between sectors meaning two boundary points may be updated based on a single sector's distance changing
 //   the boundary point is set to the shortest distance found in the two adjacent sectors, this is a conservative boundary around the vehicle
-void AP_Proximity_Boundary_3D::update_boundary(const Face face)
+void AP_Proximity_Boundary_3D::update_boundary(const Face &face)
 {
     // sanity check
     if (!face.valid()) {
@@ -111,7 +117,7 @@ void AP_Proximity_Boundary_3D::update_boundary(const Face face)
     }
     _boundary_points[layer][prev_sector] = _sector_edge_vector[layer][prev_sector] * shortest_distance;
 
-    // if the sector counter-clockwise from the previous sector has an invalid distance, set boundary to create a cup like boundary
+    // if the sector counter-clockwise from the previous sector has an invalid distance, set boundary to create a cup-like boundary
     const uint8_t prev_sector_ccw = get_prev_sector(prev_sector);
     if (!_distance_valid[layer][prev_sector_ccw]) {
         _boundary_points[layer][prev_sector_ccw] = _sector_edge_vector[layer][prev_sector_ccw] * shortest_distance;
@@ -122,7 +128,7 @@ void AP_Proximity_Boundary_3D::update_boundary(const Face face)
 void AP_Proximity_Boundary_3D::update_middle_boundary()
 {
     for (uint8_t sector=0; sector < PROXIMITY_NUM_SECTORS; sector++) {
-        update_boundary(Face(PROXIMITY_MIDDLE_LAYER, sector));
+        update_boundary(Face{PROXIMITY_MIDDLE_LAYER, sector});
     }
 }
 
@@ -138,7 +144,7 @@ void AP_Proximity_Boundary_3D::reset()
 
 // Reset this location, specified by Face object, back to default
 // i.e Distance is marked as not-valid, and set to a large number.
-void AP_Proximity_Boundary_3D::reset_face(Face face)
+void AP_Proximity_Boundary_3D::reset_face(const Face &face)
 {
     if (!face.valid()) {
         return;
@@ -150,7 +156,7 @@ void AP_Proximity_Boundary_3D::reset_face(Face face)
 }
 
 // get distance for a face.  returns true on success and fills in distance argument with distance in meters
-bool AP_Proximity_Boundary_3D::get_distance(Face face, float &distance) const
+bool AP_Proximity_Boundary_3D::get_distance(const Face &face, float &distance) const
 {
     if (!face.valid()) {
         return false;
@@ -183,23 +189,14 @@ bool AP_Proximity_Boundary_3D::convert_obstacle_num_to_face(uint8_t obstacle_num
     face.sector = sector;
     face.layer = layer;
 
-    // if this face is valid (sensor is directly pushing values towards this face), return true
-    if (_distance_valid[layer][sector]) {
-        return true;
-    } 
-
-    // if face cw from this face is valid, then "update_boundary" must have manipulated this face also. 
-    // return true
-    const uint8_t next_sector = get_next_sector(sector);
-    if (_distance_valid[layer][next_sector]) {
+    uint8_t valid_sector = sector; 
+    // check for 3 adjacent sectors
+    for (uint8_t i=0; i < 2; i++) {
+        if (_distance_valid[layer][valid_sector]) {
+            // update boundary has manipulated this face 
             return true;
         }
-    
-    // if face cw twice from this face is valid, then "update_boundary" must have manipulated this face also.
-    // return true
-    const uint8_t next_to_next_sector = get_next_sector(next_sector);
-    if (_distance_valid[layer][next_to_next_sector]) {
-        return true;
+        valid_sector = get_next_sector(valid_sector);
     }
 
     // this face was not manipulated by "update_boundary" and is stale. Don't use it
@@ -210,6 +207,7 @@ bool AP_Proximity_Boundary_3D::convert_obstacle_num_to_face(uint8_t obstacle_num
 // This function then draws a line between this sector, and sector + 1 at the given layer
 // Then returns the closest point on this line from vehicle, in body-frame. 
 // Used by GPS based Simple Avoidance  
+// False is returned if the obstacle_num provided does not produce a valid obstacle 
 bool AP_Proximity_Boundary_3D::get_obstacle(uint8_t obstacle_num, Vector3f& vec_to_obstacle) const
 {
     Face face;
@@ -222,7 +220,7 @@ bool AP_Proximity_Boundary_3D::get_obstacle(uint8_t obstacle_num, Vector3f& vec_
     
     const Vector3f start = _boundary_points[face.layer][sector_start];
     const Vector3f end = _boundary_points[face.layer][sector_end];
-    vec_to_obstacle = Vector3f::closest_point_between_line_and_point(start, end, Vector3f{0.0f, 0.0f, 0.0f});
+    vec_to_obstacle = Vector3f::point_on_line_closest_to_other_point(start, end, Vector3f{});
     return true;
 }
 
@@ -230,6 +228,7 @@ bool AP_Proximity_Boundary_3D::get_obstacle(uint8_t obstacle_num, Vector3f& vec_
 // This function then draws a line between this sector, and sector + 1 at the given layer
 // Then returns the closest point on this line from the segment that was passed, in body-frame.
 // Used by GPS based Simple Avoidance  - for "brake mode" 
+// FLT_MAX is returned if the obstacle_num provided does not produce a valid obstacle
 float AP_Proximity_Boundary_3D::distance_to_obstacle(uint8_t obstacle_num, const Vector3f& seg_start, const Vector3f& seg_end, Vector3f& closest_point) const
 {   
     Face face; 
@@ -283,7 +282,7 @@ uint8_t AP_Proximity_Boundary_3D::get_horizontal_object_count() const
 
 // get an object's angle and distance, used for non-GPS avoidance
 // returns false if no angle or distance could be returned for some reason
-bool AP_Proximity_Boundary_3D::get_horizontal_object_angle_and_distance(uint8_t object_number, float& angle_deg, float &distance) const
+bool AP_Proximity_Boundary_3D::get_horizontal_object_angle_and_distance(uint8_t object_number, float &angle_deg, float &distance) const
 {
     if ((object_number < PROXIMITY_NUM_SECTORS) && _distance_valid[PROXIMITY_MIDDLE_LAYER][object_number]) {
         angle_deg = _angle[PROXIMITY_MIDDLE_LAYER][object_number];

libraries/AP_Proximity/AP_Proximity_Boundary_3D.h

@@ -19,7 +19,7 @@
 #define PROXIMITY_NUM_LAYERS          5       // num of layers in a sector
 #define PROXIMITY_MIDDLE_LAYER        2       // middle layer
 #define PROXIMITY_PITCH_WIDTH_DEG     30      // width between each layer in degrees
-#define PROXIMITY_SECTOR_WIDTH_DEG    45.0f   // width of sectors in degrees
+#define PROXIMITY_SECTOR_WIDTH_DEG    (360.0f/PROXIMITY_NUM_SECTORS)   // width of sectors in degrees
 #define PROXIMITY_BOUNDARY_DIST_MIN   0.6f    // minimum distance for a boundary point.  This ensures the object avoidance code doesn't think we are outside the boundary.
 #define PROXIMITY_BOUNDARY_DIST_DEFAULT 100   // if we have no data for a sector, boundary is placed 100m out
 
@@ -30,6 +30,7 @@ public:
 	AP_Proximity_Boundary_3D();
 
     // stores the layer and sector as a single object to access and modify the 3-D boundary
+    // Objects of this class are used temporarily to modify the boundary, i,e they are not persistant or stored anywhere  
     class Face
     {
     public:
@@ -45,8 +46,8 @@ public:
 	    bool operator ==(const Face &other) const { return ((layer == other.layer) && (sector == other.sector)); }
 	    bool operator !=(const Face &other) const { return ((layer != other.layer) || (sector != other.sector)); }
 
-        uint8_t layer;  // vertical "steps" on the 3D Boundary
-        uint8_t sector; // horizontal "steps" on the 3D Boundary
+        uint8_t layer;  // vertical "steps" on the 3D Boundary. 0th layer is the bottom most layer, 1st layer is 30 degrees above (in body frame) and so on
+        uint8_t sector; // horizontal "steps" on the 3D Boundary. 0th sector is directly in front of the vehicle. Each sector is 45 degrees wide.
     };
 
     // returns face corresponding to the provided yaw and (optionally) pitch
@@ -59,8 +60,8 @@ public:
     // This method will also mark the sector and layer to be "valid",
     // This distance can then be used for Obstacle Avoidance
     // Assume detected obstacle is horizontal (zero pitch), if no pitch is passed
-    void set_face_attributes(Face face, float pitch, float yaw, float distance);
-    void set_face_attributes(Face face, float yaw, float distance) { set_face_attributes(face, 0, yaw, distance); }
+    void set_face_attributes(const Face &face, float pitch, float yaw, float distance);
+    void set_face_attributes(const Face &face, float yaw, float distance) { set_face_attributes(face, 0, yaw, distance); }
 
     // add a distance to the boundary if it is shorter than any other provided distance since the last time the boundary was reset
     // pitch and yaw are in degrees, distance is in meters
@@ -70,7 +71,7 @@ public:
     // update boundary points used for simple avoidance based on a single sector and pitch distance changing
     //   the boundary points lie on the line between sectors meaning two boundary points may be updated based on a single sector's distance changing
     //   the boundary point is set to the shortest distance found in the two adjacent sectors, this is a conservative boundary around the vehicle
-    void update_boundary(Face face);
+    void update_boundary(const Face &face);
 
     // update middle layer boundary points
     void update_middle_boundary();
@@ -79,24 +80,21 @@ public:
     void reset();
 
     // Reset this location, specified by Face object, back to default
-    // i.e Distance is marked as not-valid, and set to a large number.
-    void reset_face(Face face);
+    // i.e Distance is marked as not-valid
+    void reset_face(const Face &face);
 
     // get distance for a face.  returns true on success and fills in distance argument with distance in meters
-    bool get_distance(Face face, float &distance) const;
+    bool get_distance(const Face &face, float &distance) const;
 
     // Get the total number of obstacles 
     uint8_t get_obstacle_count() const;
 
-    // Appropriate layer and sector are found from the passed obstacle_num
-    // This function then draws a line between this sector, and sector + 1 at the given layer
-    // Then returns the closest point on this line from vehicle, in body-frame. 
+    // Returns a body frame vector (in cm) to an obstacle
+    // False is returned if the obstacle_num provided does not produce a valid obstacle
     bool get_obstacle(uint8_t obstacle_num, Vector3f& vec_to_boundary) const;
 
-    // Appropriate layer and sector are found from the passed obstacle_num
-    // This function then draws a line between this sector, and sector + 1 at the given layer
-    // Then returns the closest point on this line from the segment that was passed, in body-frame.
-    // Used by GPS based Simple Avoidance  - for "brake mode" 
+    // Returns a body frame vector (in cm) nearest to obstacle, in betwen seg_start and seg_end
+    // FLT_MAX is returned if the obstacle_num provided does not produce a valid obstacle
     float distance_to_obstacle(uint8_t obstacle_num, const Vector3f& seg_start, const Vector3f& seg_end, Vector3f& closest_point) const;
 
     // get distance and angle to closest object (used for pre-arm check)
@@ -108,8 +106,10 @@ public:
     bool get_horizontal_object_angle_and_distance(uint8_t object_number, float& angle_deg, float &distance) const;
 
     // sectors
+    static_assert(PROXIMITY_NUM_SECTORS == 8, "PROXIMITY_NUM_SECTOR must be 8");
     const uint16_t _sector_middle_deg[PROXIMITY_NUM_SECTORS] {0, 45, 90, 135, 180, 225, 270, 315};    // middle angle of each sector
     // layers
+    static_assert(PROXIMITY_NUM_LAYERS == 5, "PROXIMITY_NUM_LAYERS must be 5");
     const int16_t _pitch_middle_deg[PROXIMITY_NUM_LAYERS] {-60, -30, 0, 30, 60};
 
 private:
@@ -128,7 +128,7 @@ private:
     // "update_boundary" method manipulates two sectors ccw and one sector cw from any valid face.
     // Any boundary that does not fall into these manipulated faces are useless, and will be marked as false
     // The resultant is packed into a Boundary Location object and returned by reference as "face"
-    bool convert_obstacle_num_to_face(uint8_t obstacle_num, Face& face) const;
+    bool convert_obstacle_num_to_face(uint8_t obstacle_num, Face& face) const WARN_IF_UNUSED;
 
     Vector3f _sector_edge_vector[PROXIMITY_NUM_LAYERS][PROXIMITY_NUM_SECTORS];
     Vector3f _boundary_points[PROXIMITY_NUM_LAYERS][PROXIMITY_NUM_SECTORS];

libraries/AP_Proximity/AP_Proximity_MAV.cpp

@@ -45,10 +45,27 @@ bool AP_Proximity_MAV::get_upward_distance(float &distance) const
     return false;
 }
 
-// handle mavlink DISTANCE_SENSOR messages
+// handle mavlink messages
 void AP_Proximity_MAV::handle_msg(const mavlink_message_t &msg)
 {   
-    if (msg.msgid == MAVLINK_MSG_ID_DISTANCE_SENSOR) {
+    switch (msg.msgid) {
+        case (MAVLINK_MSG_ID_DISTANCE_SENSOR):
+            handle_distance_sensor_msg(msg);
+            break;
+
+        case (MAVLINK_MSG_ID_OBSTACLE_DISTANCE):
+            handle_obstacle_distance_msg(msg);
+            break;
+
+        case (MAVLINK_MSG_ID_OBSTACLE_DISTANCE_3D):
+            handle_obstacle_distance_3d_msg(msg);
+            break;    
+    }
+}
+
+// handle mavlink DISTANCE_SENSOR messages
+void AP_Proximity_MAV::handle_distance_sensor_msg(const mavlink_message_t &msg)
+{
     mavlink_distance_sensor_t packet;
     mavlink_msg_distance_sensor_decode(&msg, &packet);
 
@@ -59,10 +76,10 @@ void AP_Proximity_MAV::handle_msg(const mavlink_message_t &msg)
         const float yaw_angle_deg = sector * 45;
         const AP_Proximity_Boundary_3D::Face face = boundary.get_face(yaw_angle_deg);
         // store in meters
-            const uint16_t distance = packet.current_distance * 0.01f;
+        const float distance = packet.current_distance * 0.01f;
         _distance_min = packet.min_distance * 0.01f;
         _distance_max = packet.max_distance * 0.01f;
-            if (distance <= _distance_max && distance >= _distance_max) {
+        if (distance <= _distance_max && distance >= _distance_min) {
             boundary.set_face_attributes(face, yaw_angle_deg, distance);
             // update OA database
             database_push(yaw_angle_deg, distance);
@@ -79,9 +96,11 @@ void AP_Proximity_MAV::handle_msg(const mavlink_message_t &msg)
         _last_upward_update_ms = AP_HAL::millis();
     }
     return;
-    }
+}
 
-    if (msg.msgid == MAVLINK_MSG_ID_OBSTACLE_DISTANCE) {
+// handle mavlink OBSTACLE_DISTANCE messages
+void AP_Proximity_MAV::handle_obstacle_distance_msg(const mavlink_message_t &msg)
+{
     mavlink_obstacle_distance_t packet;
     mavlink_msg_obstacle_distance_decode(&msg, &packet);
 
@@ -171,25 +190,33 @@ void AP_Proximity_MAV::handle_msg(const mavlink_message_t &msg)
         boundary.reset_face(face);
     }
     return;
-    }
+}
 
-    if (msg.msgid == MAVLINK_MSG_ID_OBSTACLE_DISTANCE_3D) {
+// handle mavlink OBSTACLE_DISTANCE_3D messages
+void AP_Proximity_MAV::handle_obstacle_distance_3d_msg(const mavlink_message_t &msg)
+{
     mavlink_obstacle_distance_3d_t packet;
     mavlink_msg_obstacle_distance_3d_decode(&msg, &packet);
 
     const uint32_t previous_sys_time = _last_update_ms;
     _last_update_ms = AP_HAL::millis();
+   
     // time_diff will check if the new message arrived significantly later than the last message
     const uint32_t time_diff = _last_update_ms - previous_sys_time;
 
     const uint32_t previous_msg_timestamp = _last_3d_msg_update_ms;
     _last_3d_msg_update_ms = packet.time_boot_ms;
-        bool clear_fence = false;
+
+    if (packet.frame != MAV_FRAME_BODY_FRD) {
+        // we do not support this frame of reference yet 
+        return;
+    }
 
     // we will add on to the last fence if the time stamp is the same
     // provided we got the new obstacle in less than PROXIMITY_3D_MSG_TIMEOUT_MS  
     if ((previous_msg_timestamp != _last_3d_msg_update_ms) || (time_diff > PROXIMITY_3D_MSG_TIMEOUT_MS)) {
-            clear_fence = true;
+        // cleared fence back to defaults since we have a new timestamp
+        boundary.reset();
     }
 
     _distance_min = packet.min_distance;
@@ -199,12 +226,7 @@ void AP_Proximity_MAV::handle_msg(const mavlink_message_t &msg)
     Matrix3f body_to_ned;
     const bool database_ready = database_prepare_for_push(current_pos, body_to_ned);
 
-        if (clear_fence) {
-            // cleared fence back to defaults since we have a new timestamp
-            boundary.reset();
-        }
-
-        const Vector3f obstacle(packet.x, packet.y, packet.z);
+    const Vector3f obstacle(packet.x, packet.y, packet.z * -1.0f);
     if (obstacle.length() < _distance_min || obstacle.length() > _distance_max || obstacle.is_zero()) {
         // message isn't healthy
         return;
@@ -213,7 +235,7 @@ void AP_Proximity_MAV::handle_msg(const mavlink_message_t &msg)
     const float yaw = wrap_360(degrees(atan2f(obstacle.y, obstacle.x)));
     const float pitch = wrap_180(degrees(M_PI_2 - atan2f(norm(obstacle.x, obstacle.y), obstacle.z))); 
 
-        // allot them correct layer and sector based on calculated pitch and yaw
+    // allot to correct layer and sector based on calculated pitch and yaw
     const AP_Proximity_Boundary_3D::Face face = boundary.get_face(pitch, yaw);
     float face_distance;
     if (boundary.get_distance(face, face_distance) && (face_distance < obstacle.length())) {
@@ -224,7 +246,7 @@ void AP_Proximity_MAV::handle_msg(const mavlink_message_t &msg)
     boundary.set_face_attributes(face, yaw, pitch, obstacle.length());
 
     if (database_ready) {
-            database_push(yaw, obstacle.length(),_last_update_ms, current_pos, body_to_ned, pitch);
-        }
+        database_push(yaw, pitch, obstacle.length(),_last_update_ms, current_pos, body_to_ned);
     }
+    return;
 }

libraries/AP_Proximity/AP_Proximity_MAV.h

@@ -24,6 +24,14 @@ public:
     void handle_msg(const mavlink_message_t &msg) override;
 
 private:
+
+    // handle mavlink DISTANCE_SENSOR messages
+    void handle_distance_sensor_msg(const mavlink_message_t &msg);
+    // handle mavlink OBSTACLE_DISTANCE messages
+    void handle_obstacle_distance_msg(const mavlink_message_t &msg);
+    // handle mavlink OBSTACLE_DISTANCE_3D messages
+    void handle_obstacle_distance_3d_msg(const mavlink_message_t &msg);
+
     // horizontal distance support
     uint32_t _last_update_ms;   // system time of last mavlink message received
     uint32_t _last_3d_msg_update_ms;   // last stored OBSTACLE_DISTANCE_3D message timestamp