Peter Hall

@peterbarker something like this? https://github.com/mavlink/mavlink/pull/1510

@peterbarker The longer term goal of this is to be able to define pathways to get from one fence area to the next. Probably with a new fence way-point type....

I will try and explain better, with a diagram and everything.  I have two fences. I then define a link between them as a number of waypoints. The waypoints...

@rmackay9 Like this?  The problem with that is you have set the margin and fence size so the vehicle can sneak down the middle. You have a know path...

> I don't see how the avoidance margin and width of the corridor are any more or less of an issue with this method unless the plan is to turn...

> I'm pretty sure that Dijkstra's handles all types of fences (circular inclusion/exclusion, polygon inclusion/exclusion). Your absolutely correct, I'm out of date. This is a WIP pr there is still...

I actually wonder if 'Or' fences for polygons should be the default, The current 'And' fences any number of polygones can always be simplified to a single polygons with a...

Great to be having so much discussion here, would be great if you could all have a look over the MAVLink PR, https://github.com/mavlink/mavlink/pull/1510 that will enable this to work in...

> The intent there was to handle the fences coming from multiple sources, each of which is limiting where you might fly. For example, the user specifying some on a...

The new checks added here are the same as those in `update_throttle_mix` here: https://github.com/ArduPilot/ardupilot/blob/c9f7a3c03d7ef58e328c7ebbe6b4be0d8b030394/ArduCopter/land_detector.cpp#L230-L235 So if they are set then throttle mix will also be set to max, so the...