AC_Fence: added option bit for union of inclusion areas #24379
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this allows for treating total inclusion area as union of all inclusion areas. This is useful for: - circles with corridors between them - a fence for each flying site all loaded at once - temporary addition of an extra area to a complex fence
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#15550 is more or less the same thing, except it works with avoid and pathpanning. It is configurable via mavlink using fence groups. |
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@IamPete1 that is much more complex and has been languishing for nearly 3 years. Even if we did get that in I think we'd want this option to give union semantics for all fences as that is what most fence users would want and makes for a much simpler UI |
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I think we should definitely consider @IamPete1's PR because it is more complete. |
peterbarker
approved these changes
Aug 1, 2023
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Mine is a pragmatic approval; I'd prefer PH's PR but that could be a long time coming into ArduPilot. |
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@tridge does this include tincans also or just TYPE=2 |
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this allows for treating total inclusion area as union of all inclusion areas. This is useful for:
Note that FENCE_OPTIONS is plane only, so this change only impacts planes