Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Collision prevention: account for the time since range data arrived #12945

Merged
merged 2 commits into from
Sep 11, 2019
Merged

Collision prevention: account for the time since range data arrived #12945

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
caf38a1
Account for the time since range data arrived
jkflying Sep 11, 2019
2198df5
Do syscall for time once, outside of loop
jkflying Sep 11, 2019
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
10 changes: 7 additions & 3 deletions src/lib/CollisionPrevention/CollisionPrevention.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -253,7 +253,9 @@ void CollisionPrevention::_calculateConstrainedSetpoint(Vector2f &setpoint,

float setpoint_length = setpoint.norm();

if (getElapsedTime(&_obstacle_map_body_frame.timestamp) < RANGE_STREAM_TIMEOUT_US) {
hrt_abstime constrain_time = getTime();

if ((constrain_time - _obstacle_map_body_frame.timestamp) < RANGE_STREAM_TIMEOUT_US) {
if (setpoint_length > 0.001f) {

Vector2f setpoint_dir = setpoint / setpoint_length;
Expand All @@ -267,7 +269,9 @@ void CollisionPrevention::_calculateConstrainedSetpoint(Vector2f &setpoint,
for (int i = 0; i < INTERNAL_MAP_USED_BINS; i++) { //disregard unused bins at the end of the message

//delete stale values
if (getElapsedTime(&_data_timestamps[i]) > RANGE_STREAM_TIMEOUT_US) {
hrt_abstime data_age = constrain_time - _data_timestamps[i];

if (data_age > RANGE_STREAM_TIMEOUT_US) {
_obstacle_map_body_frame.distances[i] = UINT16_MAX;
}

Expand All @@ -287,7 +291,7 @@ void CollisionPrevention::_calculateConstrainedSetpoint(Vector2f &setpoint,
&& setpoint_dir.dot(bin_direction) > cosf(col_prev_ang_rad)) {
//calculate max allowed velocity with a P-controller (same gain as in the position controller)
float curr_vel_parallel = math::max(0.f, curr_vel.dot(bin_direction));
float delay_distance = curr_vel_parallel * col_prev_dly;
float delay_distance = curr_vel_parallel * (col_prev_dly + data_age * 1e-6f);
float stop_distance = math::max(0.f, distance - min_dist_to_keep - delay_distance);
float vel_max_posctrl = xy_p * stop_distance;
float vel_max_smooth = trajmath::computeMaxSpeedFromBrakingDistance(max_jerk, max_accel, stop_distance);
Expand Down