4/7/2023 0 Comments Bendy ruler:ref:`OA_DB_OUTPUT `: controls whether tracked objects are visible on the GCS as small airplanes.Normally this can be left at the default value :ref:`OA_DB_QUEUE_SIZE `: the buffer size between the lidar and obstacle database.:ref:`OA_DB_EXPIRE `: the number of seconds after an obstacle disappears from view that it is removed from the database.:ref:`OA_DB_SIZE `: the maximum number of obstacles that can be tracked.If using a lidar or proximity sensor the following "obstacle database" parameters are available: Don't forget to setup an altitude fence if you do not want the Copter to climb above a certain height. This feature is typically helpful while avoiding short obstacles in a crowded space. :ref:`OA_BR_TYPE ` = 2: Vertical BendyRuler: This feature searches for path only in four directions: Straight towards the destination, vertically up, vertically down and backwards.This searches for obstacle-free paths only in horizontal directions and therefore when it detects an obstacle in its path, it will only move in those directions. :ref:`OA_BR_TYPE ` = 1: Horizontal BendyRuler: This is the only option available on Rover and older Copter versions.BendyRuler TypesĬopter 4.1 onwards has support for two different types of BendyRuler Path Planning. A shorter OA_MARGIN_MAX parameter will let the vehicle come closer to an approaching obstacle. A smaller OA_BR_LOOKAHEAD will make BendyRuler look for obstacles in a shorter path towards the destination, and thus any object further than this many meters will not be used in the path planning process. Users often get confused between OA_BR_LOOKAHEAD and OA_MARGIN_MAX parameters.
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