remove avoidance library and logic

Signed-off-by: Silvan <silvan@auterion.com>

src/modules/flight_mode_manager/tasks/Auto/CMakeLists.txt

@@ -35,5 +35,5 @@ px4_add_library(FlightTaskAuto
 	FlightTaskAuto.cpp
 )
 
-target_link_libraries(FlightTaskAuto PUBLIC avoidance FlightTask FlightTaskUtility WeatherVane)
+target_link_libraries(FlightTaskAuto PUBLIC FlightTask FlightTaskUtility WeatherVane)
 target_include_directories(FlightTaskAuto PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})

src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp

@@ -156,12 +156,6 @@ bool FlightTaskAuto::update()
 		break;
 	}
 
-	if (_param_com_obs_avoid.get()) {
-		_obstacle_avoidance.updateAvoidanceDesiredSetpoints(_position_setpoint, _velocity_setpoint, (int)_type);
-		_obstacle_avoidance.injectAvoidanceSetpoints(_position_setpoint, _velocity_setpoint, _yaw_setpoint,
-				_yawspeed_setpoint);
-	}
-
 	_checkEmergencyBraking();
 	Vector3f waypoints[] = {_prev_wp, _position_setpoint, _next_wp};
 
@@ -477,17 +471,6 @@ bool FlightTaskAuto::_evaluateTriplets()
 		_updateInternalWaypoints();
 	}
 
-	if (_param_com_obs_avoid.get()
-	    && _sub_vehicle_status.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
-		_obstacle_avoidance.updateAvoidanceDesiredWaypoints(_triplet_target, _yaw_setpoint, _yawspeed_setpoint,
-				_triplet_next_wp,
-				_sub_triplet_setpoint.get().next.yaw,
-				(float)NAN,
-				_weathervane.isActive(), _sub_triplet_setpoint.get().current.type);
-		_obstacle_avoidance.checkAvoidanceProgress(
-			_position, _triplet_prev_wp, _target_acceptance_radius, Vector2f(_closest_pt));
-	}
-
 	// set heading
 	_weathervane.update();
 

src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp

@@ -53,13 +53,6 @@
 #include "StickAccelerationXY.hpp"
 #include "StickYaw.hpp"
 
-// TODO: make this switchable in the board config, like a module
-#if CONSTRAINED_FLASH
-#include <lib/avoidance/ObstacleAvoidance_dummy.hpp>
-#else
-#include <lib/avoidance/ObstacleAvoidance.hpp>
-#endif
-
 /**
  * This enum has to agree with position_setpoint_s type definition
  * The only reason for not using the struct position_setpoint is because
@@ -147,8 +140,6 @@ protected:
 	AlphaFilter<float> _yawspeed_filter;
 	bool _yaw_sp_aligned{false};
 
-	ObstacleAvoidance _obstacle_avoidance{this}; /**< class adjusting setpoints according to external avoidance module's input */
-
 	PositionSmoothing _position_smoothing;
 	Vector3f _unsmoothed_velocity_setpoint;
 	Sticks _sticks{this};
@@ -165,7 +156,6 @@ protected:
 					(ParamFloat<px4::params::NAV_MC_ALT_RAD>)
 					_param_nav_mc_alt_rad, //vertical acceptance radius at which waypoints are updated
 					(ParamInt<px4::params::MPC_YAW_MODE>) _param_mpc_yaw_mode, // defines how heading is executed,
-					(ParamInt<px4::params::COM_OBS_AVOID>) _param_com_obs_avoid, // obstacle avoidance active
 					(ParamFloat<px4::params::MPC_YAWRAUTO_MAX>) _param_mpc_yawrauto_max,
 					(ParamFloat<px4::params::MIS_YAW_ERR>) _param_mis_yaw_err, // yaw-error threshold
 					(ParamFloat<px4::params::MPC_ACC_HOR>) _param_mpc_acc_hor, // acceleration in flight

src/modules/flight_mode_manager/tasks/ManualPosition/FlightTaskManualPosition.hpp

@@ -68,5 +68,5 @@ private:
 	uint8_t _reset_counter{0}; /**< counter for estimator resets in xy-direction */
 
 	WeatherVane _weathervane{this}; /**< weathervane library, used to implement a yaw control law that turns the vehicle nose into the wind */
-	CollisionPrevention _collision_prevention{this}; /**< collision avoidance setpoint amendment */
+	CollisionPrevention _collision_prevention{this}; /**< collision prevention setpoint amendment */
 };