Instead of climbing/descending with max speed first and then fly straight, fly diagonally to new waypoint.
This aligns the behavior between Mission and Hold modes.
Plan RTL paths that route around geofence boundaries — both inclusion
and exclusion zones — instead of flying straight through them and
breaching. The planner builds a visibility graph over the margin-inflated
geofence polygons and circles and runs Dijkstra to find the shortest
legal return path, falling back to a straight line to the destination
when no valid path exists.
Highlights:
- New reusable libraries: src/lib/dijkstra (generic shortest path) and
src/lib/geofence (fixed-point geometry, polygon inflation, bitangent
visibility); the RTL planner lives in navigator/RTLPlanner.
- Visibility graph keeps only bitangent edges and skips edges that poke
into a forbidden region, greatly reducing edge-cost computation.
- Corner splitting is limited to sharp convex corners.
- Geometry validation: reject self-intersecting polygons and vertices
outside the fixed-point range; centimeter fixed-point scaling keeps
orientation tests exact and avoids drift at large distances.
- Failure handling: a Status enum replaces silent bool returns, and
failures (unbuildable fence, planner capacity overflow, dataman load
errors, NaN waypoints, destinations that breach the fence) are
surfaced to the operator via MAVLink warnings/criticals; the planner
falls back to a straight-line RTL.
- Destination updates are centralized in RTL::setRtlTypeAndDestination;
the path is replanned only when the destination or geometry changes.
- VTOLs always use the fixed-wing margin (FW loiter radius).
- kMaxNodes is exposed as a Kconfig option (default 100); the feature is
disabled on flash-constrained boards (FMUv4 and older, various F4/F7).
- Tests: unit tests for the Dijkstra lib, geofence geometry utils, and
the avoidance planner, plus a MAVSDK SITL test flying an RTL through a
geofence.
- Documentation: new "Geofence Awareness" section in the RTL docs.
Co-authored-by: Balduin <balduin@auterion.com>
* Add vitepress tree
* Update existing workflows so they dont trigger on changes in the docs path
* Add nojekyll, package.json, LICENCE etc
* Add crowdin docs upload/download scripts
* Add docs flaw checker workflows
* Used docs prefix for docs workflows
* Crowdin obvious fixes
* ci: docs move to self hosted runner
runs on a beefy server for faster builds
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* ci: don't run build action for docs or ci changes
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* ci: update runners
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* Add docs/en
* Add docs assets and scripts
* Fix up editlinks to point to PX4 sources
* Download just the translations that are supported
* Add translation sources for zh, uk, ko
* Update latest tranlsation and uorb graphs
* update vitepress to latest
---------
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Co-authored-by: Ramon Roche <mrpollo@gmail.com>
