AC_Avoidance: oapathplanner gets fast-waypoint option

rmackay9 · Dec 21, 2023 · 6147f14 · 6147f14
1 parent 66aeb5f
commit 6147f14
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Showing 2 changed files with 2 additions and 1 deletion.
diff --git a/libraries/AC_Avoidance/AP_OAPathPlanner.cpp b/libraries/AC_Avoidance/AP_OAPathPlanner.cpp
@@ -59,7 +59,7 @@ const AP_Param::GroupInfo AP_OAPathPlanner::var_info[] = {
     // @DisplayName: Options while recovering from Object Avoidance
     // @Description: Bitmask which will govern vehicles behaviour while recovering from Obstacle Avoidance (i.e Avoidance is turned off after the path ahead is clear).   
     // @Bitmask{Rover}: 0: Reset the origin of the waypoint to the present location, 1: log Dijkstra points
-    // @Bitmask{Copter}: 1: log Dijkstra points
+    // @Bitmask{Copter}: 1:log Dijkstra points, 2:Allow fast waypoints (Dijkastras only)
     // @User: Standard
     AP_GROUPINFO("OPTIONS", 5, AP_OAPathPlanner, _options, OA_OPTIONS_DEFAULT),
 

diff --git a/libraries/AC_Avoidance/AP_OAPathPlanner.h b/libraries/AC_Avoidance/AP_OAPathPlanner.h
@@ -74,6 +74,7 @@ class AP_OAPathPlanner {
         OA_OPTION_DISABLED = 0,
         OA_OPTION_WP_RESET = (1 << 0),
         OA_OPTION_LOG_DIJKSTRA_POINTS = (1 << 1),
+        OA_OPTION_FAST_WAYPOINTS = (1 << 2),
     };
 
     uint16_t get_options() const { return _options;}