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Published 20 hours ago • verified publisher icon PX4

[WIP] Collision Prevention Update

Open Claudio-Chies opened this issue 1 year ago • 3 comments
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adapted the collision prevention documentation to reflect the move to Acceleration based collision prevention

Associated PR

  • [ ] https://github.com/PX4/PX4-Autopilot/pull/23507

Claudio-Chies avatar Aug 27 '24 13:08 Claudio-Chies

Looks good, though I have some questions.

  • This works only in Position mode in Acceleration based implementation right? So not in Missions or in Jerk-restricted modes? (i see that MPC_JERK_MAX is mentioned, so just checking.
  • We should make the restrictions clear, if they are not currently.

As a post process I think perhaps we should also restructure this a little to "deprioritise" the companion side option, as it is untested.

hamishwillee avatar Aug 27 '24 22:08 hamishwillee

  • [ ] Release note?

hamishwillee avatar Aug 27 '24 22:08 hamishwillee

@Claudio-Chies I have fixed this to be attached-sensor-centric. Pulled the tuning into PX4 configuration, and pushed the algorithm description down. It is much more useful for the real case now.

I still think a video would be nice :-). I'm not tracking the associated PR, so let me know when you need a final check over this.

hamishwillee avatar Nov 13 '24 23:11 hamishwillee

@hamishwillee i'll add a video once everything is merged, and we have a flight in its final state. there are still issues appearing here and there. i'm also preparing more documentation on how the different terms in the obstacle_distance message are actually meant, as there is quite some confusion.

Claudio-Chies avatar Nov 14 '24 07:11 Claudio-Chies

@hamishwillee this would now be in its final form. Would be nice if you could read over the last added part.

Claudio-Chies avatar Nov 19 '24 10:11 Claudio-Chies

Would be nice if you could read over the last added part.

Great. Thanks. Still no video ha ha

Anyway, looks good. Did a subedit and added a few questions

hamishwillee avatar Nov 20 '24 00:11 hamishwillee

i'll add a video once i've fixed the driver for the rotary lidar (SF45). currently, i can only provide you with a SITL screen recording.

Claudio-Chies avatar Nov 21 '24 10:11 Claudio-Chies

No flaws found

github-actions[bot] avatar Nov 21 '24 20:11 github-actions[bot]

@Claudio-Chies

i'll add a video once i've fixed the driver for the rotary lidar (SF45). currently, i can only provide you with a SITL screen recording.

Every time I review something I try do it as though I've not read the doc before - so you've been getting this comment again and again, though neither of us need it. Sorry, must be annoying!

I added a note about this working in VTOL MC mode too.

Merging now.

FWIW I think is is really excellent that you've done this work in collision prevention, and taken the time to document it properly.

hamishwillee avatar Nov 21 '24 20:11 hamishwillee