BendyRuler configuration

ArduRover Rover 4.6
1

Hi all,

Just an update on my situation. My vehicle is an Ackermann-steering rover running firmware version 4.6.2.

I am using a 2D LiDAR that only detects a 60° area in front; all other angles are blocked. The LiDAR data displays normally.

When simple obstacle avoidance is enabled, the vehicle works fine in AUTO mode:

it follows the route accurately and stops normally when encountering obstacles.

However, after setting OA_TYPE = 1, rebooting the flight controller, and configuring all related OA parameters correctly,

the vehicle does not stop for obstacles (because I set AVOID_ENABLE = 0).

If I set AVOID_ENABLE = 7 or 2, the vehicle stops and keeps a safe distance from obstacles, but does not navigate around them — behavior identical to simple avoidance.

How can I make the vehicle actively navigate around obstacles?

Or is there another reason for this issue?

1 Like
2

Don’t know the answer to most of your questions but for slide behaviour, you need to set AVOID_BEHAVE to 0, which it normally ought to be by default

3

It would be helpful if you posted a log file.

4

Actually yes I tried this today and it does indeed not slide along the obstacles.

My GCS code commands it to just move forward at a given velocity. Next have to try giving it a position target to navigate to and see if if slides then.

5

the slide function had been canceled long time ago. now it equals to stop function.

but what i want to use is the bendyruler. not simple obstacle avoidance.

6

Really? When?

Yes I too wanted to use BendyRuler

7

since a long time ago. maybe since 4.1 version

8

Can you tell me what messages to look for to debug BendyRuler only navigation?

Also is there a chance that BendyRuler only works for wide FOV sensors are not narrow ones like @Fayeli 's LiDAR?

9

there’s nothing i can tell you coz i still havent figured how bendyriler works out. i hope get some help from somebody