[benhalverson]

rover-fence.txt

Summary

Fixes #30995. When Rover combines Dijkstra with simple fence avoidance, use max(OA_MARGIN_MAX, 2 × horizontal fence margin) and rebuild cached geometry when that margin changes.

Classification & Testing

• Checked by a human programmer
• Non-functional change
• No-binary change
• Infrastructure change (e.g. unit tests, helper scripts)
• Automated SITL tests verify changes
• Tested manually, description below (e.g. SITL)
• Tested on hardware
• Logs attached
• Logs available on request

In the already-running MAVProxy command terminal:

fence load /tmp/rover-fence.txt
module load messagerate
messagerate set GLOBAL_POSITION_INT 5
messagerate set FENCE_STATUS 5

After the fence finishes uploading and the EKF is ready:

param set FENCE_ENABLE 1
mode GUIDED
arm throttle

Once it reports armed, command the destination 70 m east:

guided 40.07137500 -105.22896727 0

Expected: Rover drives around the rectangular exclusion fence and reaches the destination instead of stalling.

Check telemetry after arrival:

status FENCE_STATUS
status VFR_HUD

Expect breach_status: 0, breach_count: 0, and groundspeed below 0.3.

When finished:

mode HOLD
disarm

[github-actions]

Global Size Summary (Total Flash delta in bytes)

Built from 01f6859 rebased onto 6743a33

Board	Periph	tracker	blimp	bootloader	copter	heli	iofw	plane	rover	sub
DrotekP3Pro	_	_	_	*	_	_	_	_	_	_
Durandal	_	*	*	_	+120	+120	_	*	+204	*
Hitec-Airspeed	*	_	_	_	_	_	_	_	_	_
KakuteF7	_	*	*	_	*	*	_	*	*	*
MambaH743v4	_	*	*	_	+108	+108	_	*	+204	*
MatekF405-CAN	_	_	_	*	_	_	_	_	_	_
MatekF405	_	*	*	_	*	*	_	*	*	*
MatekH743-bdshot	_	*	*	_	+120	+120	_	*	+204	*
Pixhawk1-1M	_	*	*	_	*	*	_	*	*	*
disco	_	*	*	_	+154	+144	_	*	+256	*
f103-GPS	*	_	_	_	_	_	_	_	_	_