#include "AP_Avoidance.h"
#include <limits>
#include <GCS_MAVLink/GCS.h>

Include dependency graph for AP_Avoidance.cpp:

Macros
#define	AVOIDANCE_DEBUGGING 0

#define	AP_AVOIDANCE_WARN_TIME_DEFAULT 30

#define	AP_AVOIDANCE_FAIL_TIME_DEFAULT 30

#define	AP_AVOIDANCE_WARN_DISTANCE_XY_DEFAULT 300

#define	AP_AVOIDANCE_WARN_DISTANCE_Z_DEFAULT 300

#define	AP_AVOIDANCE_FAIL_DISTANCE_XY_DEFAULT 100

#define	AP_AVOIDANCE_FAIL_DISTANCE_Z_DEFAULT 100

#define	AP_AVOIDANCE_RECOVERY_DEFAULT AP_AVOIDANCE_RECOVERY_RTL

#define	AP_AVOIDANCE_FAIL_ACTION_DEFAULT MAV_COLLISION_ACTION_REPORT

#define	debug(fmt, args ...)

Functions
float	closest_approach_xy (const Location &my_loc, const Vector3f &my_vel, const Location &obstacle_loc, const Vector3f &obstacle_vel, const uint8_t time_horizon)

float	closest_approach_z (const Location &my_loc, const Vector3f &my_vel, const Location &obstacle_loc, const Vector3f &obstacle_vel, const uint8_t time_horizon)

Variables
const AP_HAL::HAL &	hal

Macro Definition Documentation

◆ AP_AVOIDANCE_FAIL_ACTION_DEFAULT

#define AP_AVOIDANCE_FAIL_ACTION_DEFAULT MAV_COLLISION_ACTION_REPORT

Definition at line 27 of file AP_Avoidance.cpp.

◆ AP_AVOIDANCE_FAIL_DISTANCE_XY_DEFAULT

#define AP_AVOIDANCE_FAIL_DISTANCE_XY_DEFAULT 100

Definition at line 24 of file AP_Avoidance.cpp.

◆ AP_AVOIDANCE_FAIL_DISTANCE_Z_DEFAULT

#define AP_AVOIDANCE_FAIL_DISTANCE_Z_DEFAULT 100

Definition at line 25 of file AP_Avoidance.cpp.

◆ AP_AVOIDANCE_FAIL_TIME_DEFAULT

#define AP_AVOIDANCE_FAIL_TIME_DEFAULT 30

Definition at line 21 of file AP_Avoidance.cpp.

◆ AP_AVOIDANCE_RECOVERY_DEFAULT

#define AP_AVOIDANCE_RECOVERY_DEFAULT AP_AVOIDANCE_RECOVERY_RTL

Definition at line 26 of file AP_Avoidance.cpp.

◆ AP_AVOIDANCE_WARN_DISTANCE_XY_DEFAULT

#define AP_AVOIDANCE_WARN_DISTANCE_XY_DEFAULT 300

Definition at line 22 of file AP_Avoidance.cpp.

◆ AP_AVOIDANCE_WARN_DISTANCE_Z_DEFAULT

#define AP_AVOIDANCE_WARN_DISTANCE_Z_DEFAULT 300

Definition at line 23 of file AP_Avoidance.cpp.

◆ AP_AVOIDANCE_WARN_TIME_DEFAULT

#define AP_AVOIDANCE_WARN_TIME_DEFAULT 30

Definition at line 20 of file AP_Avoidance.cpp.

◆ AVOIDANCE_DEBUGGING

#define AVOIDANCE_DEBUGGING 0

Definition at line 8 of file AP_Avoidance.cpp.

◆ debug

#define debug	(	fmt,
		args ...
	)

Definition at line 34 of file AP_Avoidance.cpp.

Referenced by AP_Avoidance::check_for_threats(), closest_approach_xy(), closest_approach_z(), and AP_Avoidance::init().

Function Documentation

◆ closest_approach_xy()

float closest_approach_xy	(	const Location &	my_loc,
		const Vector3f &	my_vel,
		const Location &	obstacle_loc,
		const Vector3f &	obstacle_vel,
		const uint8_t	time_horizon
	)

Definition at line 275 of file AP_Avoidance.cpp.

Referenced by AP_Avoidance::update_threat_level().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ closest_approach_z()

float closest_approach_z	(	const Location &	my_loc,
		const Vector3f &	my_vel,
		const Location &	obstacle_loc,
		const Vector3f &	obstacle_vel,
		const uint8_t	time_horizon
	)

Definition at line 301 of file AP_Avoidance.cpp.