Fix and rewrite collision prevention #23934
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Related to #22464 Implement the Vector Field Histogram (VFH) algorithm for collision prevention in PX4. * **CollisionPrevention.cpp** - Add `_implementVFHAlgorithm`, `_applyNegativeForce`, and `_applyAllowedComponents` methods. - Update `_updateObstacleMap` method to handle arbitrary `obstacle_distance` message formats. * **CollisionPrevention.hpp** - Update class definition to include VFH algorithm implementation. - Add new parameters for adjustable number of sectors. * **collisionprevention_params.c** - Add new parameter `CP_NUM_SECTORS` for adjustable number of sectors. * **CollisionPreventionTest.cpp** - Add tests for VFH algorithm implementation. - Update existing tests to handle new `obstacle_distance` message formats.
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a quick check of the authors github shows that he's spamming OSS repos with AI generated garbage |
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please let me know the issue so I can get it fixed. |
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Related to #22464
Implement the Vector Field Histogram (VFH) algorithm for collision prevention in PX4.
_implementVFHAlgorithm,_applyNegativeForce, and_applyAllowedComponentsmethods._updateObstacleMapmethod to handle arbitraryobstacle_distancemessage formats.CP_NUM_SECTORSfor adjustable number of sectors.obstacle_distancemessage formats.