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peterbarker
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Feb 23, 2026
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Should re-enable SMART_RTL_Repeat
| const uint16_t points_to_simplify = (path_points_count > _simplify.path_points_completed) ? (path_points_count - _simplify.path_points_completed) : 0 ; | ||
| const bool low_on_space = (_path_points_max - path_points_count) <= SMARTRTL_CLEANUP_START_MARGIN; | ||
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| if(_prune.loops_count > 0 && low_on_space){ |
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| if(_prune.loops_count > 0 && low_on_space){ | |
| if(_prune.loops_count > 0 && low_on_space) { |
| // To avoid this annoying math, a good-enough overestimate is ceil(SMARTRTL_POINTS_MAX*2.0f/3.0f) | ||
| #define SMARTRTL_SIMPLIFY_TIME_US 200 // maximum time (in microseconds) the simplification algorithm will run before returning | ||
| #define SMARTRTL_PRUNING_DELTA (_accuracy * 0.99) // How many meters apart must two points be, such that we can assume that there is no obstacle between them. must be smaller than _ACCURACY parameter | ||
| #define SMARTRTL_PRUNING_DELTA (SMARTRTL_ACCURACY_DEFAULT * 0.5) // How many meters apart must two points be, such that we can assume that there is no obstacle between them. must be smaller than _ACCURACY parameter |
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Why this change? You're decoupling the pruning delta from the parameter which doesn't seem right.
| _prune.i = (path_points_count > 0) ? path_points_count - 1 : 0; | ||
| _prune.j = 0; | ||
| _prune.path_points_count = path_points_count; | ||
| _prune.path_points_completed = 0; |
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Problem:
In Circle mode, SmartRTL deactivates because the path buffer fills faster than pruning can remove circular loops.
Changes:
Removed invalid SMARTRTL_SIMPLIFY_EPSILON macro and replaced it with _accuracy * 0.5f directly in detect_simplifications()
Proactively remove detected loops in routine_cleanup() when buffer space is low
Reset path_points_completed in restart_pruning() to rescan the full path for new loops
Testing:
Verified in SITL: Loiter → Arm → Takeoff → Circle → sim_speedup 100
SmartRTL stays active during circular flight.
Fixes #20716