Obstacle Avoidance Heading Orientation

jagtar · May 6, 2020, 11:27am

hello all.
if we connect multiple lidar instead of one forward facing lidar, will the drone still rotate its head to find the appropriate path “or” will it use the adjacent lidar(means no need for rotation of head) to calculate the path , in order to avoid obstacle.
i am not able to find the calling of yaw rotating function in the ardupilot firmware.
can u tell me where is this function getting called or implemented.

Moksh · May 6, 2020, 3:34pm

I think it’s helpful for you

Happy flying

ppoirier · May 7, 2020, 9:25am

Hello
On the video above @rmackay9 is using the BendingRuler library , look here for bearing scan

github.com

ArduPilot/ardupilot/blob/master/libraries/AC_Avoidance/AP_OABendyRuler.cpp#L61


if (ground_speed_vec.length_squared() < OA_BENDYRULER_LOW_SPEED_SQUARED) {
    // with zero ground speed use vehicle's heading
    ground_course_deg = AP::ahrs().yaw_sensor * 0.01f;
} else {
    ground_course_deg = degrees(ground_speed_vec.angle());
}


// check OA_BEARING_INC definition allows checking in all directions
static_assert(360 % OA_BENDYRULER_BEARING_INC == 0, "check 360 is a multiple of OA_BEARING_INC");


// search in OA_BENDYRULER_BEARING_INC degree increments around the vehicle alternating left
// and right. For each direction check if vehicle would avoid all obstacles
float best_bearing = bearing_to_dest;
bool have_best_bearing = false;
float best_margin = -FLT_MAX;
float best_margin_bearing = best_bearing;


for (uint8_t i = 0; i <= (170 / OA_BENDYRULER_BEARING_INC); i++) {
    for (uint8_t bdir = 0; bdir <= 1; bdir++) {
        // skip duplicate check of bearing straight towards destination
        if ((i==0) && (bdir > 0)) {

jagtar · May 7, 2020, 1:08pm

this is only the calculation of rotation angle , where is the code of drone actually getting rotated like target_yaw_rate. can u help me with this matter . thankyou so much.

ppoirier · May 7, 2020, 1:14pm

Wiki is your friend
https://ardupilot.org/dev/

Moksh · May 8, 2020, 2:53am

Correct .

Happy flying