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[1.14 Backport] Geofence: Disable pre-emptive geofence predictor by default #21657

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merged 3 commits into from
Jun 6, 2023
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[1.14 Backport] Geofence: Disable pre-emptive geofence predictor by default #21657

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1d037b4
Geofence: Disable pre-emptive geofence predictor by default (1.14)
junwoo091400 May 30, 2023
0727896
Geofence Predict experimental note add
junwoo091400 May 31, 2023
8af7ec1
Update src/modules/navigator/geofence_params.c
junwoo091400 Jun 6, 2023
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6 changes: 4 additions & 2 deletions src/modules/navigator/geofence_params.c
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Expand Up @@ -128,7 +128,9 @@ PARAM_DEFINE_FLOAT(GF_MAX_HOR_DIST, 0);
PARAM_DEFINE_FLOAT(GF_MAX_VER_DIST, 0);

/**
* Use Pre-emptive geofence triggering
* [EXPERIMENTAL] Use Pre-emptive geofence triggering
*
* NOTE: This is an experimental feature and is known for causing flyaways on vehicles. Use at your own risk.
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I've added the note, what do you think? @bresch @dagar

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*
* Predict the motion of the vehicle and trigger the breach if it is determined that the current trajectory
* would result in a breach happening before the vehicle can make evasive maneuvers.
Expand All @@ -137,4 +139,4 @@ PARAM_DEFINE_FLOAT(GF_MAX_VER_DIST, 0);
* @boolean
* @group Geofence
*/
PARAM_DEFINE_INT32(GF_PREDICT, 1);
PARAM_DEFINE_INT32(GF_PREDICT, 0);