Removed Functionality: Remove collision avoidance interface on PX4 side #24172
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Signed-off-by: Silvan <[email protected]>
Remove yaw_acceptance and altitude_acceptance_radius fields as they were only filled by now removed avoidance controller. Signed-off-by: Silvan <[email protected]>
Signed-off-by: Silvan <[email protected]>
🔎 FLASH Analysispx4_fmu-v5x [Total VM Diff: -5520 byte (-0.27 %)]px4_fmu-v6x [Total VM Diff: -5576 byte (-0.29 %)]Updated: 2025-01-06T08:07:26 |
bresch
approved these changes
Jan 6, 2025
DanMesh
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Jan 6, 2025
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| #include <uORB/topics/vehicle_trajectory_bezier.h> | ||
| #include <uORB/topics/vehicle_trajectory_waypoint.h> |
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I believe we could even remove these two uORB messages and sub-messages. They were only used for avoidance - @bastianhjaeger would you agree?
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Looking deeper still, we could probably then also remove the entire Bezier library.
https://github.com/PX4/PX4-Autopilot/tree/main/src/lib/bezier
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Bezier can for sure go. If vehicle_trajectory_waypoint is not used nowhere, than sure too. Good catch.
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Plus the corresponding mavlink pieces once these are gone. #24172 (comment) |
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Solved Problem
We have archived the ROS side of the avoidance some time ago, and the interface on the PX4 side is not actively maintained (most of the initial contributors have left or have a changed focus). With the introduction of external flight modes we have arguably a better way of implementing it, and thus I propose to remove the interface on the PX4 side completely. This saves us quite some flash (5.5k), removes code complexity and prevents new developers to be sent on the wrong (old) track.
Solution
Remove CollisionAvoidance library (which was used in FlightTask), remove health check for avoidance, remove
COM_OBS_AVOID, remove from messagePositionControllerStatus.msgthe fieldsyaw_acceptanceandaltitude_acceptancethat were exclusively used for avoidance and with that also remove some acceptance logic from Navigator.Changelog Entry
For release notes:
Alternatives
We could for a start only not build it but leave in code base (as it's already done for constrained builds). If somebody would complain we could revert more easily. Wouldn't resolve the lingering of a not-maintained PX4 code then though.