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Collision Prevention for multicopter acceleration based position flight mode #23507

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merged 18 commits into from
Nov 21, 2024
Merged

Collision Prevention for multicopter acceleration based position flight mode #23507

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91637f3
CollisionPrevention: rewrite for Acceleration based manual flight mode
Claudio-Chies Aug 9, 2024
ba6e0e9
StickAccelerationXY: Simplify collision prevention call
MaEtUgR Nov 11, 2024
ddc5e5a
CollisionPrevention: fix matrix namespace
MaEtUgR Nov 11, 2024
fd46ac8
CollisionPrevention: Sanitize input of _getObstacleDistance()
MaEtUgR Nov 11, 2024
970e500
CollisionPrevention: clarify mode switch command to hold/loiter
MaEtUgR Nov 12, 2024
d5e652c
CollisionPrevention: Clarify bin size definitions, move wrap function…
MaEtUgR Nov 12, 2024
3c7d07f
CollisionPrevention: reduce internal array size, zero initialize what…
MaEtUgR Nov 12, 2024
3378c9b
CollisionPrevention: move main functions to the top in the order they…
MaEtUgR Nov 12, 2024
0cdff14
CollisionPrevention: only save quaternion and yaw on attitude update
MaEtUgR Nov 12, 2024
0092ac3
CollisionPrevention: restore rate limited warning for no data, minor …
MaEtUgR Nov 13, 2024
d0a5faf
Remove FlightTaskManualPositionSmoothVel
MaEtUgR Nov 13, 2024
2200159
CollisionPrevention: changed to resolution of 5 degrees, and adapted …
Claudio-Chies Nov 14, 2024
27818e2
Remove FlightTaskManualPositionSmoothVel
MaEtUgR Nov 13, 2024
6eeab5e
CollisionPrevention: fix early return and use unified bin count + arr…
MaEtUgR Nov 13, 2024
36dd39a
CollisionPrevention: slightly simplify _transformSetpoint()
MaEtUgR Nov 19, 2024
08f2f39
CollisionPrevention: follow parameter variable naming convention
MaEtUgR Nov 19, 2024
ec1efcc
CollisionPrevention: prevent illegal array index with malicious obsta…
MaEtUgR Nov 20, 2024
f05f032
CollisionPrevention: Added Case where velocity gets reduced to zero i…
Claudio-Chies Nov 20, 2024
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1 change: 0 additions & 1 deletion ROMFS/px4fmu_common/init.d-posix/airframes/4006_gz_px4vision
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Expand Up @@ -75,7 +75,6 @@ param set-default MPC_Z_VEL_P_ACC 5
param set-default MPC_Z_VEL_I_ACC 3
param set-default MPC_LAND_ALT1 3
param set-default MPC_LAND_ALT2 1
param set-default MPC_POS_MODE 3
param set-default CP_GO_NO_DATA 1

# Navigator Parameters
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1 change: 0 additions & 1 deletion ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision
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Expand Up @@ -67,7 +67,6 @@ param set-default MPC_Z_VEL_P_ACC 5
param set-default MPC_Z_VEL_I_ACC 3
param set-default MPC_LAND_ALT1 3
param set-default MPC_LAND_ALT2 1
param set-default MPC_POS_MODE 3
param set-default CP_GO_NO_DATA 1

# Navigator Parameters
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1 change: 0 additions & 1 deletion ROMFS/px4fmu_common/init.d/airframes/4020_holybro_px4vision_v1_5
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Original file line number Diff line number Diff line change
Expand Up @@ -68,7 +68,6 @@ param set-default MPC_Z_VEL_P_ACC 5
param set-default MPC_Z_VEL_I_ACC 3
param set-default MPC_LAND_ALT1 3
param set-default MPC_LAND_ALT2 1
param set-default MPC_POS_MODE 3
param set-default CP_GO_NO_DATA 1

# Navigator Parameters
Expand Down
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