Hi all,
I have recently built a multicopter with a forward facing radar for use in Obstacle Avoidance.
This was installed and tested using Simple Avoidance in Loiter and AltHold modes and behaviour appeared as expected per the information contained on the Wiki.
I then setup the BendyRuler Obstacle Avoidance for AUTO missions as this seemed the most appropriate to my needs. However, this appeared to introduce a ‘pausing’/stopping behaviour at each waypoint before the copter proceeded as expected.
I had carried out AUTO missions prior to activating BendyRuler and, with the same simple mission (i.e. same Waypoint radius, speeds, servo setting commands and other parameters) this pausing was not seen.
This issue appears similar to issue #20371 for Copter and issue #20140 (and #20464) for Rover. While the issues #20371 and #20464 appear to have remained open, issue #20140 for Rover has been closed. The listed merged pull request is #25793 which is actually for the Copter/AC_Avoidance library. However, #25793 appears to only address the issue when using Djikstra’s algorithm by adding the support for fast waypoints on the AVOID_OPTIONS parameter bitmask. While I did enable this parameter, this did not change behavior and it appears that the matching issue for BendyRuler does not seem to have been resolved (with the PR mentioning that BendyRuler’s behaviour is unchanged).
I attach logs below of the seen behaviour - with 14 being a flight without BendyRuler enabled showing no pausing and the first flight of 15 being a flight with BendRuler enabled (and Fast Waypoints though this just for Djikstra’s):
Is there any plan for a fix for BendyRuler to allow flying through waypoints at a regular speed (using SCurves) instead of stopping? If not, is there any known workaround to allow the use of BendyRuler while using Auto missions while not having this pausing behaviour?
Any help or advice greatly appreciated!