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22 lines
1.4 KiB
Markdown
22 lines
1.4 KiB
Markdown
# Path Planning Interface
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<Badge type="warning" text="Removed PX4 v1.15" />
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::: warning
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The **Path Planning Interface**, along with the features **Obstacle avoidance in Missions** and **Safe Landing** are no longer supported or maintained, and _should not_ be used in any PX4 version.
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This code was abandoned due to architectural constraints of the implementation making it hard to maintain, extend, and adopt.
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Support has been withdrawn make it clear that this interface is untested.
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:::
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::: tip
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PX4 is now adopting more generic and scalable approaches for integrating these kinds of features.
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For example the [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md) allows complete replacement of PX4 flight modes with enhanced versions written using ROS 2.
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:::
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This interface allows PX4 to stream a proposed path to a companion computer, and receive back a stream of setpoints that more safely achieves the emitted path, or a mirror of the same stream if the path planning software does not support planning for the current PX4 mode.
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This enables features such obstacle avoidance in missions and safer landing to be provided by a planner on a companion computer.
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This actual code is still present in code at time of writing (PX4 v1.15).
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Information about the API and associated features can be found in the [PX4 v1.14 docs](https://docs.px4.io/v1.14/en/computer_vision/path_planning_interface).
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