for object avoidance, there is not RNGFND_TURN_ANGL parameter.
How to set up vehicle to turn the degree. is there nay new way to do it?
Thank you,
how to do simple object avoidance by TF02. Can I still use the “Dodge” method. It does stop in front of the object now.
Simple avoidance has been removed from master Rover - and possibly the
stable.
It’s been replaced by proximity avoidance and/or bendy-ruler navigation.
Peter
thanks Peter, it is very helpful.
@peterbarker It still stop there.
below is my parameter setting. Any wrong?
https://ardupilot.org/copter/docs/common-oa-bendyruler.html
AVOID_ANGLE_MAX 1000
AVOID_BEHAVE 0
AVOID_DIST_MAX 5
AVOID_ENABLE 7
AVOID_MARGIN 5
OA_LOOKAHEAD 5
OA_MARGIN_MAX 5
PRX_TYPE 4
RNGFND1_ADDR 0
RNGFND1_FUNCTION 0
RNGFND1_GNDCLEAR 10
RNGFND1_MAX_CM 500
RNGFND1_MIN_CM 20
RNGFND1_OFFSET 0
RNGFND1_ORIENT 0
RNGFND1_PIN -1
RNGFND1_POS_X 0
RNGFND1_POS_Y 0
RNGFND1_POS_Z 0
RNGFND1_PWRRNG 0
RNGFND1_RMETRIC 1
RNGFND1_SCALING 1
RNGFND1_STOP_PIN -1
RNGFND1_TYPE 19 (use Benewake TF02)
As my understanding, the bendy-ruler algorithm try to looking for open spaces using 360 degree lidar. Benewake TF02 is a point lidar for distance measure.
if install 3 sensors on front, using rangefinder, does it work for bendy-ruler? or have to use 360 degree lidar to find open space.
Is it possible use PRX_IGN_ANG1,2… to give it open space?
Hope rover 4.0 can keep Dodge, it is still valuable in some cases.
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I installed 3 TFmini plus on front of Rover. Forward, forward left, forward right.
But the Rover stops on front of detected object when I use Bendy ruler.
I found this in libraries\AC_Avoidance\AC_Avoid.cpp
#if APM_BUILD_TYPE(APM_BUILD_APMrover2)
define AP_AVOID_BEHAVE_DEFAULT AC_Avoid::BehaviourType::BEHAVIOR_STOP
#else
define AP_AVOID_BEHAVE_DEFAULT AC_Avoid::BehaviourType::BEHAVIOR_SLIDE
#endif
so if APMrover2, its behavior always STOP.
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Do you think if changed that line of code, we could get the slide back.It is simple and usefull.