AC_Fence.cpp "get_breach_distance" function does not account for polygon fence breach #13152
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tridge
requested changes
Jan 6, 2020
libraries/AC_Fence/AC_Fence.cpp
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| // ignore exclusion polygons with less than 3 points | ||
| continue; | ||
| } | ||
| float distance_to_poly_new = Polygon_closest_distance_point(boundary, num_points,pos_vector)*0.01f; |
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needs a check first if we are breached
libraries/AC_Fence/AC_Fence.cpp
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| if (_poly_loader.get_exclusion_circle(i, center_pos_cm, radius)) { | ||
| const float dist_circle_sq = (pos_vector - center_pos_cm).length(); | ||
| const float dist_circle_new = (dist_circle_sq*0.01f) - radius; | ||
| if(!distance_to_poly_updated || (dist_circle_new < _poly_breach_distance)) { |
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needs a check if we are breached
peterbarker
reviewed
Jan 6, 2020
libraries/AC_Fence/AC_Fence.cpp
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| for (uint8_t i = 0; i < num_exclusion_polygons; i++){ | ||
| uint16_t num_points; | ||
| const Vector2f* boundary = _poly_loader.get_exclusion_polygon(i, num_points); | ||
| if (num_points < 3) { |
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Is this sanity check required?
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Separate functions in the polyfence file. |
Breach is checked for each of the fence types and the breach distance is calculated. Minimum of those breach distance from each fence is returned.
Minimum distance from inclusion/exclusion of polygon fence is taken and back up fence 20 meters ahead of a fresh breach is created
rishabsingh3003
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I have made the changes that were discussed in the last Dev Call.
I attached Mission Planner with SITL and printed out breach distance from each fence type (inclusion/exclusion polygon/circle) just to check if the added functionality is working. I believe it is working just like the other two fence types now. |
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This PR fixes the bug stated in #13125
There are a couple of problems that are addressed in this PR.
This makes the polygon fence behave exactly like the other two fence types which was not the case until now.
Testing:
@peterbarker I have attached a before/after patch video as you asked.
Before the fix: https://youtu.be/Ucp3cFpP4Eg
After the fix: https://youtu.be/MloaZ69uOco