Copter: object avoidance gets configurable margin #6080
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| bool AP_Proximity::get_horizontal_distances(Proximity_Distance_Array &prx_dist_array) const | ||
| { | ||
| if ((drivers[primary_instance] == nullptr) || (_type[primary_instance] == Proximity_Type_None)) { | ||
| return 0.0f; |
ArduCopter/GCS_Mavlink.cpp
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| for (uint8_t i=0; i<count_max; i++) { | ||
| if (g2.proximity.get_horizontal_distances(dist_array)) { |
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I don't remember having any rebase issues. I think the final result is ok..
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Oh, I see what you're saying.. So, yes, at some point I tried to split out the changes into two commits but it didn't work out quite right. It's too painful to fix this now so I'm going to leave it.
| @@ -264,13 +272,13 @@ void AC_Avoid::adjust_velocity_proximity(float kP, float accel_cmss, Vector2f &d | |||
| // get boundary from proximity sensor | |||
| uint16_t num_points; | |||
| const Vector2f *boundary = _proximity.get_boundary_points(num_points); | |||
| adjust_velocity_polygon(kP, accel_cmss, desired_vel, boundary, num_points, false); | |||
| adjust_velocity_polygon(kP, accel_cmss, desired_vel, boundary, num_points, false, _margin); | |||
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what's the difference between _margin and get_margin()?
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fence.get_margin() gets the minimum distance the vehicle should maintain from the edge of the fence. The _margin (which refers to the AVOID_MARGIN parameter) is the distance the vehicle should maintain from objects. It's possible that the Fence margin should move into the Avoidance library but I think keeping it in the fence library (where it has been) is more intuitive for people during setup.
We could argue that the object avoidance margin should be moved out of the Avoidance library and into the proximity library but I think the placement is not terrible. The Proximity library is really meant just to gather up the distances from whatever sensors.
libraries/AC_Avoidance/AC_Avoid.cpp
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| @@ -298,6 +306,9 @@ void AC_Avoid::adjust_velocity_polygon(float kP, float accel_cmss, Vector2f &des | |||
| safe_vel.y = desired_vel.y * _ahrs.cos_yaw() - desired_vel.x * _ahrs.sin_yaw(); // forward | |||
| } | |||
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| // calc margin in cm | |||
| float margin_cm = MAX(_margin * 100.0f, 0); | |||
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you pass in "margin" but then use "_margin".. is that right?
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nice catch, thanks!
| @@ -50,6 +50,12 @@ class AP_Proximity | |||
| Proximity_Good | |||
| }; | |||
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| // structure holding distances in 8 directions. used for sending distances to ground station | |||
| struct Proximity_Distance_Array { | |||
| uint8_t orientation[8]; // orientation (i.e. rough direction) of the distance (see MAV_SENSOR_ORIENTATION) | |||
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should 8 be a define/const?
Also fix existing bug in return
vehicle will attempt to stop MARGIN meters from objects in GPS modes
rmackay9
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This PR improves copter's object avoidance in a few ways: