How to limit the size of the map?

[Changliu52]

Thank you for sharing the code.
I am trying to use it for drone path planing.
I wonder if there is a way to limit the volume of the map to a certain distance around the drone's current location? So that it delete the old map far away?

Thank you in advance.
Chang

[ZacharyTaylor]

Yes this was added in a recent PR #174
The parameter governing how far from the drone the map is stored is controlled by the parameter max_block_distance_from_body

[Changliu52]

Great! Perfect!