413ef5a3b4
AC_Avoid: add singleton
6 years ago
7aae970ae7
AC_Avoid: constify a few local variables
6 years ago
b7f3140441
AC_Avoid: stop includes margin for intersection calc
...
the simpler stop feature (as opposed to slide) was not including the margin when looking for intersections with the boundary meaning it could slow too late
6 years ago
97b5af60f8
AC_Avoid: fix adjust_velocity_polygon
...
adjust_velocity_polygon function ignoring boundary[0]
6 years ago
3577def8fd
AC_Avoid: use elseif because value does not change
7 years ago
29b1a6ed41
AC_Avoid: fix comment
7 years ago
8ae4047a00
AC_Avoidance: NFC small renames and comment improvements
7 years ago
be804aa74e
AC_Avoid: limit velocity and get-max-speed become public
...
this allows AP_Follow to use these function
7 years ago
ebf405e53d
AC_Avoid: reduce min and default DIST_MAX values
7 years ago
a1bf9d66f0
AC_Avoid: default behaviour to stop for Rovers
7 years ago
ae4ded86a8
AC_Avoid: get_max_speed supports linear acceleration
...
Also get_stopping_distance supports linear deceleration
7 years ago
dfaabb543c
AC_Avoid: add adjust_speed
...
this method accepts a heading and speed instead of a velocity vector
7 years ago
9d74d82ff6
AC_Avoid: add stopping behaviour
7 years ago
f48b14b810
AC_Avoidance: accept dt and pass to sqrt controller
7 years ago
d5c55e0dfe
AC_Avoidance: removed create() method for objects
...
See discussion here:
https://github.com/ArduPilot/ardupilot/issues/7331
we were getting some uninitialised variables. While it only showed up in
AP_SbusOut, it means we can't be sure it won't happen on other objects,
so safest to remove the approach
Thanks to assistance from Lucas, Peter and Francisco
7 years ago
c4734484e7
AC_Avoid: take an AP_AHRS in place of an AP_AHRS_NavEKF
7 years ago
a1c982be4a
AC_Avoid: work in metres to avoid extra work
7 years ago
0fe45ef6b6
AC_Avoid: eliminate get_position and get_alt_above_home
7 years ago
54010451bf
AC_Avoid: check result of AHRS calls
...
Work in metres to avoid computation
7 years ago
b44ba29a05
AC_Avoidance: replace AP_InertialNav by AHRS
7 years ago
e68c5a4668
AC_Avoidance: add static create method
7 years ago
7b0f6edf31
AC_Avoidance: add adjust velocity by beacon fence
8 years ago
823bee8a31
AC_Avoidance: Use SI units conventions in parameter units
...
Follow the rules from:
http://physics.nist.gov/cuu/Units/units.html
http://physics.nist.gov/cuu/Units/outside.html
and
http://physics.nist.gov/cuu/Units/checklist.html
one further constrain is that only printable (7bit) ASCII characters are allowed
8 years ago
35a965ebc5
AC_Avoidance: add configurable margin
...
vehicle will attempt to stop MARGIN meters from objects in GPS modes
8 years ago
7a7f8eb7c1
AC_Avoidance: only stop below alt-fence if fence is enabled
8 years ago
7b3af58634
AC_Avoidance: fix AVOID_ANGLE_MAX parameter description
8 years ago
49f4afc2a1
AC_Avoidance: add 2m margin to upward avoidance
8 years ago
5829d4b645
AC_Avoidance: Refactor fence.get_safe_alt() to fence.get_safe_alt_max()
8 years ago
e799e3a342
AC_Avoidance: stop based on upward facing proximity sensor
8 years ago
2133fd94ca
AC_Avoidance: adjust_velocity_z uses inav get_hgt_ctrl_limit
...
inertial navigation's get_hgt_ctrl_limit provides an altitude-above-ekf-origin limit while flying with optical flow
8 years ago
f73efd5249
AC_Avoidance: add adjust_velocity_z
...
This allows reducing the climb rate to slow the vehicle's climb so it does not breach the altitude fence
8 years ago
12dd6e11fb
AC_Avoidance: constify get_position
8 years ago
e7f2c9870a
AC_Avoid: add accessor for proximity enabled
8 years ago
b114d3928e
AC_Avoid: fix distance to lean angle logic
...
Fixes from PR review including
(a) make some local variables const
(b) rename angle_max to veh_angle_max
(c) fix distance_to_lean_pct logic so distance of zero returns maximum lean angle
8 years ago
1b582b2009
AC_Avoid: avoidance for non-GPS flight modes
8 years ago
b46cc623a0
AC_Avoidance: adjust_velocity_polygon accepts body-frame points
8 years ago
55d79d9a32
AC_Avoidance: proximity sensor method re-uses polygon fence boundary code
8 years ago
cdee68174d
AC_Avoidance: rename adjust_velocity_polygon_fence
8 years ago
79280036de
AC_Avoidance: rename adjust_velocity_circle_fence method
8 years ago
40c4e75ae7
AC_Avoidance: remove unnecessary const float arguments
8 years ago
c808ee2f49
Global: To nullptr from NULL.
...
RC_Channel: To nullptr from NULL.
AC_Fence: To nullptr from NULL.
AC_Avoidance: To nullptr from NULL.
AC_PrecLand: To nullptr from NULL.
DataFlash: To nullptr from NULL.
SITL: To nullptr from NULL.
GCS_MAVLink: To nullptr from NULL.
DataFlash: To nullptr from NULL.
AP_Compass: To nullptr from NULL.
Global: To nullptr from NULL.
Global: To nullptr from NULL.
8 years ago
4808664fb6
AC_Avoidance: allow use of AP_Proximity
8 years ago
36b5d43efb
AC_Avoid: delete variable that is only used once in a simple calculation
8 years ago
f27cf8d388
AC_Avoidance: add adjust_velocity that accepts Vector3f for convenience
...
We should actually modify this function to scale back the z axis in order to avoid breaching the vertical fence. Currently breaching the vertical fence is handled within the position controller which is inconsistent.
9 years ago
692ff22453
AC_Avoid: move closest_point to AP_Math
9 years ago
865aad7598
AC_Avoid: add support for stopping at polygon fence
9 years ago
26a6234a29
AC_Avoid: do not attempt to stop at circular fence if already breached
9 years ago
c6f9889a25
AC_Avoid: constify get_max_speed
...
Also get_stopping_distance and get_margin
9 years ago
a427768087
AC_Avoidance: reduce maximum acceleration to 1m/s/s
...
This makes the vehicle slow very gently as it approaches the edge of the fence
9 years ago
ff7bc7c0cb
AC_Avoidance: add library to stop at circular fence
9 years ago
Peter Barker
Randy Mackay
JIMWAR
murata
Dr.-Ing. Amilcar Do Carmo Lucas
Leonard Hall
Andrew Tridgell
khancyr
Lucas De Marchi
Shingo Matsuura
Jacob Walser
Daniel Ricketts