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Re: [Paparazzi-devel] Is there any obstacle avoidance function build in

From: Chris Gough
Subject: Re: [Paparazzi-devel] Is there any obstacle avoidance function build in paparazziuav system
Date: Sat, 5 Mar 2016 21:57:50 +0930

I think geofences are typically thought of as static, although of course they don't have to be. They are usually known at mission-planning time, rather than discovered during the mission (not generally calculated based on Sensory data, although of course they could be).

Obstacles need to be detected and avoided during a mission. Detection is the hard part. If the obstacle is also moving, avoiding it might require trajectory calculations that are not required for simple geofence rules. It might also involve an internal model of expected behaviour of the obstacle (it's a moth, it will probably fly towards the light. It's a jumbo jet, it probably won't get out of my way).

What is the status of the old TCAS code? I never really looked at it, but think it might have done the trajectory calculations / avoidance part.

Chris Gough

On 5 Mar 2016, at 6:16 PM, Hector Garcia de Marina <address@hidden> wrote:

Hi Andreas,

I am curious why they address geofencing the same as obstacle avoidance. 

What (many) have in mind is that the former is to confine your mission's area whereas the latter is about avoiding collisions with nearby objects.

On Sat, Mar 5, 2016 at 9:15 AM, Andreas Philipp <address@hidden> wrote:

Hi Martin,

thx, good to know that it is already there in principle. Will try it ...


Am 05.03.2016 um 09:03 schrieb Martin Mueller:
Hi Andreas,

you can use Paparazzi sectors to create a polygon based geofencing functionality that allows you to do anything in case the aircraft crossed it


On 03/05/2016 08:29 AM, Andreas Philipp wrote:

concerning this safety topic, it may be also of interest that there is
the political discussion in Germany/EU to allow a regulated operation of
UAS in BVLOS (beyond visual line of sight) mode which has many
scientific and of course commercial applications (even though the
private UAS use will probably be more restricted in Germany).
One of the discussed requirements for BVLOS  operation (besides some
kind of pilot licences, redundancy and mechanisms like parachutes) will
for sure be "geofencing" (which is virtually the same as obstacle
Thus I think this will be a must in the near future. However some kind
of geofencing is already implemented if I'm right: the
max_dist_from_home routine. May be that can be generalized to set other
way points with a circle line (distance) which must not be exceeded
(optionally in either dircection, not nearer or not farer away)? Of
course the reaction should not be "home mode" or "kill mode" as it is in
the moment, but just a turn away. Just some thoughts ..


Am 05.03.2016 um 01:12 schrieb banditniu:
More and more drone company or orgnization have obstacle avoidance
for there project and I believe it will become more improtant for drone
safety, so how can we build obstacle avoidance system ? Any one want
to talk
about it ?

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D - 86135 Augsburg

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