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remove avoidance library and logic

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Signed-off-by: Silvan <silvan@auterion.com>
This commit is contained in:
Silvan
2024-12-26 21:13:51 +01:00
committed by Silvan Fuhrer
parent d2cbe10243
commit 1f2dba68d2
21 changed files with 4 additions and 895 deletions
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src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
-17
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@@ -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();