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Collision Prevention Update #3364

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merged 11 commits into from
Nov 21, 2024
Merged

Collision Prevention Update #3364

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81ba981
adapted the collision prevention documentation to reflect the move to…
Claudio-Chies Aug 27, 2024
b005287
Typos
hamishwillee Aug 27, 2024
c00cf72
added releases
Claudio-Chies Sep 6, 2024
050d7b7
CollisionPrevention: updated docs to reflect the change
Claudio-Chies Nov 13, 2024
a75a18f
Remove avoidance project info and prettier
hamishwillee Nov 13, 2024
9427167
Rewrite to be attached-rangefinder centric
hamishwillee Nov 13, 2024
e084ef8
Update en/releases/main.md
hamishwillee Nov 13, 2024
6488c52
improved map documentation
Claudio-Chies Nov 15, 2024
7e0a159
Subedit
hamishwillee Nov 20, 2024
be37b27
updated release notes
Claudio-Chies Nov 21, 2024
ed9d1c4
Update en/computer_vision/collision_prevention.md
hamishwillee Nov 21, 2024
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1,523 changes: 1,523 additions & 0 deletions assets/computer_vision/collision_prevention/obstacle_distance_def.svg
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1 change: 1 addition & 0 deletions de/releases/main.md
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Expand Up @@ -70,6 +70,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
### Multi-Rotor

- Allow system-default [multicopter orbit mode](../flight_modes_mc/orbit.md) yaw behaviour to be configured, using the parameter [MC_ORBIT_YAW_MOD](../advanced_config/parameter_reference.md#MC_ORBIT_YAW_MOD) ([PX4-Autopilot#23358](https://github.com/PX4/PX4-Autopilot/pull/23358))
- [Colision Prevention](../computer_vision/collision_prevention.md) rewrite for Manual Flight Modes. [PX4-Autopilot#23507](https://github.com/PX4/PX4-Autopilot/pull/23507)

### VTOL

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2 changes: 1 addition & 1 deletion en/SUMMARY.md
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Expand Up @@ -19,6 +19,7 @@
- [Mission Mode (MC)](flight_modes_mc/mission.md)
- [Return Mode (MC)](flight_modes_mc/return.md)
- [Offboard Mode (MC)](flight_modes_mc/offboard.md)
- [Collision Prevention](computer_vision/collision_prevention.md)
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@Claudio-Chies Moved this under MC features because unlike the other computer vision features, this works with a locally attached camera. I think worth highlighting (is still linked from computer vision).

Does this also work with VTOL in MC mode?

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yes, it would in principle work for a VTOL in MC mode.

- [Precision Landing](advanced_features/precland.md)
- [Terrain Following/Holding](flying/terrain_following_holding.md)
- [Throw Launch](flight_modes_mc/throw_launch.md)
Expand Down Expand Up @@ -368,7 +369,6 @@
- [Holybro Pixhawk RPi CM4 Baseboard](companion_computer/holybro_pixhawk_rpi_cm4_baseboard.md)
- [Auterion Skynode](companion_computer/auterion_skynode.md)
- [Computer Vision](computer_vision/index.md)
- [Collision Prevention](computer_vision/collision_prevention.md)
- [Path Planning Interface](computer_vision/path_planning_interface.md)
- [Motion Capture (MoCap)](computer_vision/motion_capture.md)
- [Visual Inertial Odometry (VIO)](computer_vision/visual_inertial_odometry.md)
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277 changes: 175 additions & 102 deletions en/computer_vision/collision_prevention.md
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2 changes: 1 addition & 1 deletion en/computer_vision/index.md
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Expand Up @@ -11,7 +11,7 @@ PX4 uses computer vision systems (primarily running on [Companion Computers](../
- [Visual Inertial Odometry (VIO)](../computer_vision/visual_inertial_odometry.md) provides 3D pose and velocity estimation using an onboard vision system and IMU.
It is used for navigation when global position information is absent or unreliable.
- Avoidance/Path Planning:
- [Collision Prevention](../computer_vision/collision_prevention.md) is used to stop vehicles before they can crash into an obstacle (primarily when flying in manual modes).
- [Collision Prevention](../computer_vision/collision_prevention.md) is used to stop MC vehicles before they can crash into an obstacle (primarily when flying in manual modes).

:::tip
The [PX4 Vision Autonomy Development Kit](../complete_vehicles_mc/px4_vision_kit.md) (Holybro) is a robust and inexpensive kit for developers working with computer vision on PX4.
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1 change: 1 addition & 0 deletions en/features_mc/index.md
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Expand Up @@ -3,6 +3,7 @@
This section lists features that are specific to (or customised for) multicopters:

- [Flight Modes](../flight_modes_mc/index.md)
- [Collision Prevention](../computer_vision/collision_prevention.md)
- [Precision Landing](../advanced_features/precland.md)
- [Terrain Following/Holding](../flying/terrain_following_holding.md)
- [Throw Launch](../flight_modes_mc/throw_launch.md)
1 change: 1 addition & 0 deletions en/releases/main.md
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Expand Up @@ -75,6 +75,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
### Multi-Rotor

- Allow system-default [multicopter orbit mode](../flight_modes_mc/orbit.md) yaw behaviour to be configured, using the parameter [MC_ORBIT_YAW_MOD](../advanced_config/parameter_reference.md#MC_ORBIT_YAW_MOD) ([PX4-Autopilot#23358](https://github.com/PX4/PX4-Autopilot/pull/23358))
- Adapted the [Collision Prevention](../computer_vision/collision_prevention.md) implementation to work in the default manual flight mode (Acceleration Based) [MPC_POS_MODE](../advanced_config/parameter_reference.md#MPC_POS_MODE). ([PX4-Autopilot#23507](https://github.com/PX4/PX4-Autopilot/pull/23507)

### VTOL

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