Removed Functionality: Remove collision avoidance interface on PX4 side #24172
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🔎 FLASH Analysispx4_fmu-v5x [Total VM Diff: -10224 byte (-0.5 %)]px4_fmu-v6x [Total VM Diff: -10128 byte (-0.52 %)]Updated: 2025-01-10T12:42:46 |
bresch
previously approved these changes
Jan 6, 2025
DanMesh
reviewed
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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Thanks for the hint, I removed all these messages now.
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That doubles the flash savings to 10k
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Plus the corresponding mavlink pieces once these are gone. #24172 (comment) |
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]>
- TrajectoryBezier.msg - TrajectoryWaypoint.msg - VehicleTrajectoryBezier.msg - VehicleTrajectoryWaypoint.msg Additionally remove TRAJECTORY_REPRESENTATION_WAYPOINTS mavlink stream. Signed-off-by: Silvan <[email protected]>
Signed-off-by: Silvan <[email protected]>
As it is no longer needed w/o avoidance. Signed-off-by: Silvan <[email protected]>
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Jan 10, 2025
| @@ -159,11 +159,6 @@ bool FlightTaskAuto::update() | |||
| _checkEmergencyBraking(); | |||
| Vector3f waypoints[] = {_prev_wp, _position_setpoint, _next_wp}; | |||
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| if (isTargetModified()) { | |||
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@MaEtUgR could you double check that this check is indeed no longer needed?
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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.