Disable angle/Alt-hold based avoidance by default #29041
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rishabsingh3003
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rmackay9
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Feb 17, 2025
peterbarker
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Feb 17, 2025
| @@ -79,7 +79,7 @@ void ModeAltHold::run() | |||
| case AltHoldModeState::Flying: | |||
| motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED); | |||
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| #if AP_AVOIDANCE_ENABLED | |||
| #if AP_AVOIDANCE_ENABLED && AP_ALT_HOLD_AVOIDANCE_ENABLED | |||
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This doesn't look right; should be a single define being checked here?
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One small thing, I wonder why the build option is AC_AVOID_ALTHOLD and the code definition is AP_ALT_HOLD_AVOIDANCE_ENABLED, maybe make them the same? |
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I have never seen or heard of the "ping pong method" working successfully and I think we should disable/remove it by deafult. The parameter AVOID_ANGLE_MAX is also confusing because it does not work for simple avoidance and is only meant for the "ping-pong" method.
Recently I encountered a few setups that were trying to get the regular loiter-based avoidance working, and kept alt-hold on a switch for manual control/recovery. However, since the angle based avoidance was enabled by default in that mode which the operator did not know about, it almost led to a crash. I don't think anyone would mind removing this feature by default but it makes things cleaner and safer IMO.