Branch: master

c415-sdk

celiu-4.0

celiu-4.0.17-rc8

master

mission-4.1.18

zr-sdk-4.1.16

zr-sdk-4.3.1

zr-v4.1.17

zr-v5.0

zr-v5.1

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Commit Graph

6 Commits (master)

Author	SHA1	Message	Date
Randy Mackay	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
Randy Mackay	a1a2733926	AC_Avoidance: reduce OA path planner look ahead and margin param defaults	6 years ago
Randy Mackay	488d1ab60a	AC_Avoidance: replace Write_OA with Write_OABendyRuler and Write_OADijkstra	6 years ago
Tom Pittenger	9ad6d14c16	AC_Avoidance: add Object Avoidance Database	6 years ago
Randy Mackay	951ded1f51	AP_OAPathPlanner: report errors to caller	6 years ago
Randy Mackay	af80070ed9	AP_OAPathPlanner: path planning around obstacles ... implements both bendy ruler and dijkstra's algorithms includes many changes after peer review including: removed unused airspeed and turn-rate arguments renamed constants to start with OA_BENDYRULER_ removed fence_ptr check from update function that could cause bendy ruler to fail when fences were disabled AC_Fence's fence-margin is not used and instead we always use a hard-coded 2m limit vehicle's heading is used instead of ground-course when speed is below 0.2m/s static assert added to ensure OA_BENDYRULER_BERAING_INC constant is defined correctly replace BAD_MARGIN/GOOD_MARGIN with FLT_MAX/-FLT_MAX use calc_margin_from_xxx function's return values calc-margin-from-proximity-sensors fails if copy-locations fails remove debug remove unused singletons and other changes including: integrate fence rename to get_boundary_points adapt to fence return point and duplicate final point from not being returned create bendyrule and dijkstra objects on init add pre-arm-check to ensure they've been created successfully Dijkstra's detects polygon fence changes minor fix to Dijkstra's return path allow update_visgraph to accept 0,0 as extra point and these fixes from peer reviews: remove unused methods add note about dangers of operator[] reduce memory consuption of ShortPathNode remove unused methods including print_all_nodes and print_shortest_path replace OA_DIJKSTRA_POLYGON_VISGRAPH_INFINITY_CM with FLT_MAX update method gets check that ekf origin has been set fix indexing bug in inner fence creation fix whitespace error find-node-from-id uses switch statement instead of 3 IF statements update_visgraph comments added to clarify usage of extra_position argument find-closest-node-idx always uses node_index instead of int16_t static assert that OA_DIJKSTRA_POLYGON_FENCE_PTS < 255 some looping style changes AP_OABendyRuler: fix to ground course calculation AP_OAPathPlanner: pre_arm_check writes to caller's buffer remove unnecessary hal and stdio.h includes rename fence_ptr local variable to fence add sanity check to OADijkstra's set_fence_margin add sanity check to OABendyRuler's set_config BendyRuler's test_bearing local constants changed to be float constants BendyRuler's ahrs_home made local constant BendyRuler's proximity margin calcs lose margin_found local variable (use FLT_MAX instead) BendyRuler's calc-margin-from-circular-fence performance improvement by removing one sqrt AP_OABendyRuler: fix probe directions to be 5deg offsets from dir to destination AP_OADijkstra: fixes after peer review remove unnecesary initialisations replace safe_sqrt(sq()) with length() remove unnecessary block comment fixes AP_OAPathPlanner: add logging of final an intermediate location	6 years ago