Fence margin direction

[andyp1per]

This provides a new function get_breach_direction_NED() which gives the direction of the closest fence matching the provided bitmask, akin to what get_breach_distance() does.

[rmackay9]

this feature looks like a good step towards resolving the long-term issue of RTL not working if the vehicle starts outside the fence. The only concern is around the Polygon_closest_distance_point() method and whether it requires more CPU especially on fences with lots of points

[timtuxworth]

It's not a breach is it?

This seems to be calculating the distance to the nearest fence from the current location. There is no breach. I think it needs a different name maybe get_nearest_direction_NED()?

[timtuxworth]

this feature looks like a good step towards resolving the long-term issue of RTL not working if the vehicle starts outside the fence. The only concern is around the Polygon_closest_distance_point() method and whether it requires more CPU especially on fences with lots of points

Yes this method is probably O(n^2), it's polynomial for sure, which means it won't scale. This is why the OA library does these calculations in a kind of background thread. The code is also fundamentally the same as the code in the OA library. Should this not be a call into the existing OA library code?

[tridge]

needs to pass CI :-)