How to use custom path planner used by moveToPositionAsync?

[husha1993]

Hi,

When I excute the following code, the client got stuck and cannot print 'successfully move':

stepsize = [-20, 0, -10]
print('start to move')
airsim_client.moveToPositionAsync(currentposition.x_val+
stepsize[0], currentposition.y_val+stepsize[1],
currentposition.z_val+stepsize[2],5).join()
print('successfully move').

https://github.com/Microsoft/AirSim/blob/master/docs/apis.md#apis-for-multirotor
It says that the default is carrot following algorithm which can not give a correct 3d path due to obstacles(refer to http://wiki.ros.org/carrot_planner).
I guess "carrot following path planner" maybe the reason why the above codes got stuck.

What I want is the client can always arrive at the position I specified without collide with any objects in the scene with the moveToPositionAsync() api, and I don't care about the kinematic constraints,
thus the 'carrot path planner' is not a good choice for me.

Will movetoposition() integrate other 3d path planners?
How to change the default path planner?

[zimmy87]

Doing this is beyond the scope of AirSim. Any collision detection would have to be implemented on the client-side or would require third-party tools like PX4 with QGC controller.