Hello,
Should I be using this code d4xx_to_mavlink_3D for vertical avoidnace using BendyRuler? From the documentation, I see that this script: d4xx_to_mavlink.py is the one referred but I don’t see any 3D avoidance strategies in the code nor in the documentation.
IIRC Ardupilot supports lateral or vertical obstacle avoidance but not both at the same time, lateral requires a scanning sensor or at least three rangefinders (you can get away with 2 if you accept only avoiding in one direction). IIRC they should have horizontal FoV of 45° maybe a bit more for optimal detection.
Rishabh Singh’s code appears to support 3D and I even saw an ArduPilot youtube video on it but just asking here because it’s not documented. I should check that video again because I don’t remember if both vertical and horizontal was done.
Okay, but the realsense only has about 70 deg right? So less than two 45 deg rangefinders
45° applies to rangefinders because Ardupilot supports 8 evenly spaced rangefinders in internal proximity sensor driver (the bridge between rangefinders and obstacle avoidance). For sliding logic used by copters you need to populate 2 distance “buckets”, one that is causing avoidance and one adjacent that marks “clear space”.