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Removed Functionality: Remove collision avoidance interface on PX4 side #24172

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Removed Functionality: Remove collision avoidance interface on PX4 side #24172

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59d413a
remove avoidance library and logic
sfuhrer Dec 26, 2024
1eee755
PositionControllerStatus: remove unused fields
sfuhrer Dec 26, 2024
0a7e8a5
FlightTaskAuto: add todo for check
sfuhrer Dec 26, 2024
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2 changes: 1 addition & 1 deletion Makefile
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Expand Up @@ -404,7 +404,7 @@ check_newlines:

# Testing
# --------------------------------------------------------------------
.PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard tests_avoidance
.PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard
.PHONY: rostest python_coverage

tests:
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2 changes: 0 additions & 2 deletions ROMFS/px4fmu_common/init.d-posix/airframes/1014_gazebo-classic_iris_obs_avoid
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Expand Up @@ -28,5 +28,3 @@ param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
param set-default PWM_MAIN_FUNC3 103
param set-default PWM_MAIN_FUNC4 104

param set-default COM_OBS_AVOID 1
1 change: 0 additions & 1 deletion ROMFS/px4fmu_common/init.d-posix/airframes/4006_gz_px4vision
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Expand Up @@ -19,7 +19,6 @@ param set-default SENS_EN_BAROSIM 0
param set-default SENS_EN_MAGSIM 1

# Commander Parameters
param set-default COM_OBS_AVOID 0
param set-default COM_DISARM_LAND 0.5

# EKF2 parameters
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1 change: 0 additions & 1 deletion ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision
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Expand Up @@ -12,7 +12,6 @@
. ${R}etc/init.d/rc.mc_defaults

# Commander Parameters
param set-default COM_OBS_AVOID 1
param set-default COM_DISARM_LAND 0.5

# EKF2 parameters
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1 change: 0 additions & 1 deletion ROMFS/px4fmu_common/init.d/airframes/4020_holybro_px4vision_v1_5
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Expand Up @@ -12,7 +12,6 @@
. ${R}etc/init.d/rc.mc_defaults

# Commander Parameters
param set-default COM_OBS_AVOID 1
param set-default COM_DISARM_LAND 0.5

# EKF2 parameters
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2 changes: 0 additions & 2 deletions msg/PositionControllerStatus.msg
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Expand Up @@ -7,6 +7,4 @@ float32 target_bearing # Bearing angle from aircraft to current target [rad]
float32 xtrack_error # Signed track error [m]
float32 wp_dist # Distance to active (next) waypoint [m]
float32 acceptance_radius # Current horizontal acceptance radius [m]
float32 yaw_acceptance # Yaw acceptance error[rad]
float32 altitude_acceptance # Current vertical acceptance error [m]
uint8 type # Current (applied) position setpoint type (see PositionSetpoint.msg)
3 changes: 0 additions & 3 deletions msg/versioned/VehicleStatus.msg
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Expand Up @@ -131,9 +131,6 @@ bool open_drone_id_system_healthy
bool parachute_system_present
bool parachute_system_healthy

bool avoidance_system_required # Set to true if avoidance system is enabled via COM_OBS_AVOID parameter
bool avoidance_system_valid # Status of the obstacle avoidance system

bool rc_calibration_in_progress
bool calibration_enabled

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1 change: 0 additions & 1 deletion src/lib/CMakeLists.txt
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Expand Up @@ -34,7 +34,6 @@
add_subdirectory(adsb EXCLUDE_FROM_ALL)
add_subdirectory(airspeed EXCLUDE_FROM_ALL)
add_subdirectory(atmosphere EXCLUDE_FROM_ALL)
add_subdirectory(avoidance EXCLUDE_FROM_ALL)
add_subdirectory(battery EXCLUDE_FROM_ALL)
add_subdirectory(bezier EXCLUDE_FROM_ALL)
add_subdirectory(button EXCLUDE_FROM_ALL)
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39 changes: 0 additions & 39 deletions src/lib/avoidance/CMakeLists.txt
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271 changes: 0 additions & 271 deletions src/lib/avoidance/ObstacleAvoidance.cpp
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