AC_Avoid: Check if origin is set before any obstacle avoidance algorithm is run

[rishabsingh3003]

Both BendyRuler and Djikstra's require origin to have been set before being run but BendyRuler does not have this check. This might lead to an issue where the location used in BendyRuler is not initialized (i.e. 0,0,0) and we still run the algorithm.
This issue has been fixed by moving the check up from Djikstra's to PathPlanner.
@rmackay9 @khancyr

[rmackay9]

@rishabsingh3003,

Thanks for this.

One thing we can take advantage of is that once the EKF origin is set, it is never unset. So how about we move the check before the "while (true) {"? I think we will need to add another loop and include a delay of perhaps 500ms. So something like this:

void AP_OAPathPlanner::avoidance_thread()
{
        // require ekf origin to have been set
        bool origin_set = false;
        while (!origin_set) {
            hal.scheduler->delay(500);
            struct Location ekf_origin {};
            {
                WITH_SEMAPHORE(AP::ahrs().get_semaphore());
                origin_set = AP::ahrs().get_origin(ekf_origin));
            }
        }

I'd like to avoida a tight loop where it constantly takes the ahrs semaphore.

[rmackay9]

great, thanks!