-
Notifications
You must be signed in to change notification settings - Fork 17k
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
AP_Avoidance/AP_Proximity: simplification and efficiency improvements #13024
Merged
Merged
Changes from all commits
Commits
Show all changes
15 commits
Select commit
Hold shift + click to select a range
71e6c91
AP_OADatabase: remove unnecessary const on arguments
rmackay9 c279dc8
AP_Proximity: remove unnecessary const from database_push
rmackay9 399aa60
AP_Proximity: integrate oadb::queue_push argument swap
rmackay9 69bd4b2
AP_OADatabase: calculate object radius based on distance and beam width
rmackay9 6684aa7
AP_OABendyRuler: integrate static object radius
rmackay9 8133989
AP_Proximity: always use 8 sectors and fix ignore areas
rmackay9 0ef9b6b
AP_Proximity: sf40c combines seven readings for oadb
rmackay9 11e2e95
AP_Proximity: remove unused get_horizontal_distance
rmackay9 54629bb
AP_OADatabase: replace Location with offset from origin
rmackay9 3a629c4
AP_Proximity: integrate oadb ekf-offset change
rmackay9 6ec7ac7
AP_Math: add vector2f::offset_bearing
rmackay9 0daec49
AP_OABendyRuler: integrate oadb ekf-offset change
rmackay9 ed28ba3
AP_OAPathPlanner: slow updates to 1hz, timeout to 3sec
rmackay9 398c010
AP_OADatabase: available regardless of hal-minimize-features
rmackay9 233823e
AP_OADatabase: send_adsb uses vehicle's current altitude
rmackay9 File filter
Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Oops, something went wrong.
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
forcing everything to importance::Normal will defeat the whole GCS throttling scheme. Setting the Imporantance is still needed, maybe it's just the algorithm that assigns it that needs to change?
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
@magicrub,
Yes, I think if we want to try and reduce the number of objects we send to the GCS then improving the algorithm is a good idea and I guess that's what I was trying to do. While trying to get Bendy Ruler working for Copter I found the display of the objects on the GCS was so unintelligible (see pic in this issue) that I figured it was best to just simplify it down to a point where it worked and then we can re-build from there.
I didn't think that using the vehicle' heading (especially for Copter) was a good idea so what I've done is add the OA_DB_DIST_MAX parameter so the user can specify the maximum distance from the vehicle for any new objects entering the database. This reduces the number of objects overall both for sending to the GCS but also for the path planning done in BendyRuler.