I understand from the wiki here that keep out polygons are defined and stored in a similar way to waypoint missions.
Has anyone delved into the code?
In a scenario where you have two copters flying at once I am wondering if it is possible to dynamically update the keep out zone such that copter B is sent keep out zones that relate to the location of copter A and visa versa. Neither aircraft will therefore fly into the space occupied by the other.
The generation of these polygons could be done on the ground and then uploaded at 2-3hz giving a reasonable safety bubble to prevent collision of the two copters.
My question is not “can such code be written” but more, will the arducopter code cope with regular updating of keep out polygons during flight and behave in a logical way?
I would be looking at getting this to work in Auto or Guided modes.
Has anyone tried this?