AP_Avoidance.h File Reference

#include <AP_AHRS/AP_AHRS.h>
#include <AP_ADSB/AP_ADSB.h>

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Classes
class	AP_Avoidance
class	AP_Avoidance::Obstacle

Macros
#define	AP_AVOIDANCE_RECOVERY_REMAIN_IN_AVOID_ADSB   0
#define	AP_AVOIDANCE_RECOVERY_RESUME_PREVIOUS_FLIGHTMODE   1
#define	AP_AVOIDANCE_RECOVERY_RTL   2
#define	AP_AVOIDANCE_RECOVERY_RESUME_IF_AUTO_ELSE_LOITER   3
#define	AP_AVOIDANCE_STATE_RECOVERY_TIME_MS   2000
#define	AP_AVOIDANCE_ESCAPE_TIME_SEC   2

Functions
float	closest_distance_between_radial_and_point (const Vector2f &w, const Vector2f &p)
float	closest_approach_xy (const Location &my_loc, const Vector3f &my_vel, const Location &obstacle_loc, const Vector3f &obstacle_vel, uint8_t time_horizon)
float	closest_approach_z (const Location &my_loc, const Vector3f &my_vel, const Location &obstacle_loc, const Vector3f &obstacle_vel, uint8_t time_horizon)

Macro Definition Documentation

AP_AVOIDANCE_ESCAPE_TIME_SEC

#define AP_AVOIDANCE_ESCAPE_TIME_SEC   2

Definition at line 39 of file AP_Avoidance.h.

AP_AVOIDANCE_RECOVERY_REMAIN_IN_AVOID_ADSB

#define AP_AVOIDANCE_RECOVERY_REMAIN_IN_AVOID_ADSB   0

Definition at line 32 of file AP_Avoidance.h.

AP_AVOIDANCE_RECOVERY_RESUME_IF_AUTO_ELSE_LOITER

#define AP_AVOIDANCE_RECOVERY_RESUME_IF_AUTO_ELSE_LOITER   3

Definition at line 35 of file AP_Avoidance.h.

AP_AVOIDANCE_RECOVERY_RESUME_PREVIOUS_FLIGHTMODE

#define AP_AVOIDANCE_RECOVERY_RESUME_PREVIOUS_FLIGHTMODE   1

Definition at line 33 of file AP_Avoidance.h.

AP_AVOIDANCE_RECOVERY_RTL

#define AP_AVOIDANCE_RECOVERY_RTL   2

Definition at line 34 of file AP_Avoidance.h.

Referenced by AP_Avoidance::deinit().

AP_AVOIDANCE_STATE_RECOVERY_TIME_MS

#define AP_AVOIDANCE_STATE_RECOVERY_TIME_MS   2000

Definition at line 37 of file AP_Avoidance.h.

Referenced by AP_Avoidance::handle_avoidance_local().

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,
		uint8_t	time_horizon
	)

Definition at line 275 of file AP_Avoidance.cpp.

Referenced by AP_Avoidance::update_threat_level().

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closest_approach_z()

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

Definition at line 301 of file AP_Avoidance.cpp.

Referenced by AP_Avoidance::update_threat_level().

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closest_distance_between_radial_and_point()

float closest_distance_between_radial_and_point	(	const Vector2f &	w,
		const Vector2f &	p
	)