ArduPilot
Add Fermat-Spirals as Auto WP option
We are currently working with Boats in order to map parts of lake bottoms in shallow water - more precise along the shore.
For that we started using Fermat-Spirals as path for the mapping mission. Fermat-Spirals have very intressting features and to my knowledge are able to map any 2D or 3D volume in a single path. Actually they can also map any 2D manifold in 3D with a single path and are therefore used in additive and subtractive manufacturing also.
Python code that is able to do the pathing is available though a bit outdated (needs an update to the most recent shapely bindings, nothing severe):
https://github.com/ejbosia/Fermat-Spirals
More References considering Fermat-Spirals:
- https://dl.acm.org/doi/10.1145/2897824.2925958
- https://github.com/xiconxi/Fermat3D_OpenMesh
- https://haisenzhao.github.io/DSCarver/index.html
One very nice feature is e.g. that they usuall end an the same place they started, so going back to home is for free. Also due to this they run a similar path inwards like outwards and thus map in two different directions which can be useful for ODM.
Therefore I would like to ask for integration of this kind of path planning into Mission Planner.
