I had a chance to do a little mowing this evening and tested all three obstacle avoidance modes (fences only, no proximity sensor enabled).
The Dijkstra algorithm worked without rebooting - I simply set OA_TYPE=2 with fences enabled, and the mower planned paths around fences as expected.
BendyRuler was slightly trickier to enable. Setting OA_TYPE=1 or OA_TYPE=3 without rebooting did not enable the additional parameters, even after a refresh and resulted in the mower holding position when AUTO mode was selected. A simple reboot cleared that up, and I was able to use the BendyRuler algorithm and new BendyRuler+Djikstra feature as well.
The mower tended to give fences a wide berth in all modes, even with the margins set fairly tight. I think with a smaller OA_BR_LOOKAHEAD value, perhaps I can get it to cling a little tighter to the fence boundaries. I also intend to try smaller fence radii with an increased OA_MARGIN_MAX to see if perhaps that will result in tighter avoidance paths. However, I’m not sure it’s smart to set a fence radius smaller than 2m with a machine that’s 1.5m wide.
The new BendyRuler+Dijkstra feature seems very promising and tended to produce the cleanest/shortest path around any given obstacle.
I rarely encountered a fence breach (only upon deceleration with an awkward/impractical series of waypoints intended to challenge the system), which is fantastic, and for most applications, the rather wide berth around obstacles would likely be welcome. For mowing, I prefer to keep the margins small so I can quickly plan a mowing pattern without the need to fine tune individual waypoints around known trees/shrubs/etc and still leave as little as possible for manual trimming later.
I used the following parameters for the Dijkstra algorithm:
AVOID_ENABLE,0
FENCE_ACTION,0
FENCE_ENABLE,1
FENCE_MARGIN,1
FENCE_RADIUS,10000
FENCE_TYPE,6
OA_DB_BEAM_WIDTH,5
OA_DB_DIST_MAX,0
OA_DB_EXPIRE,10
OA_DB_OUTPUT,1
OA_DB_QUEUE_SIZE,80
OA_DB_RADIUS_MIN,0.01
OA_DB_SIZE,100
OA_MARGIN_MAX,0.1
OA_OPTIONS,0
OA_TYPE,2
For BendyRuler, same settings as above except:
OA_BR_CONT_ANGLE,75
OA_BR_CONT_RATIO,1.5
OA_BR_LOOKAHEAD,5
OA_TYPE,1
And finally, BendyRuler+Dijkstra:
OA_TYPE,3
I should be able to provide the logs requested above this weekend.