"Hello everyone. I’m working on avoiding objects with my own drone. To achieve this, I am using the “Dijkstra’s with BendyRuler” algorithms from the link below:
https://ardupilot.org/copter/docs/common-oa-dijkstrabendyruler.html
I define obstacles as fences. I set up fences both for the terrain where I will be flying and between the waypoints I assigned. I simulate this, and it’s partially working correctly. However, I have an issue. For example, when the vehicle reaches the 3rd waypoint, it pauses for a while before moving towards the 4th waypoint, making unnecessary yaw movements. I tested this in Missionplanner and observed it during an actual flight. What could be the solution?
Actually, I won’t be using this in Auto mode. I want the drone to pay attention to obstacles while returning home in RTL mode. It would be easier for me if I can use it only in RTL mode."