Collision prevention: account for the time since range data arrived #12945
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adapted setpoint in current master contains steps with this PR it is smooth |
baumanta
approved these changes
Sep 11, 2019
dagar
approved these changes
Sep 11, 2019
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Describe problem solved by the proposed pull request
Data from external systems (eg. SLAM systems, or PX4/Avoidance) is received at lower frequencies than the position controller runs at. This creates a step response that the collision prevention tries to follow when getting closer to an obstacle.
Test data / coverage
Tested in SITL. See screenshots of ulogs
Describe your preferred solution
We already account for latency in the system conservatively by subtracting the existing velocity multiplied by said latency from the desired stopping distance. The new feature piggybacks on this by increasing the latency by the time since the mavlink message was received as well.