Obstacle Generator

module load genobstacles
module load asterix

Allows the user to send simulated obstacles to ArduPilot, in order to test object avoidance techniques. This module was originally developed for the 2018 UAV Outback Challenge.

When loaded, the user can right-click on the MAVProxy map to drop obstacles. These include birds, planes and clouds. These are sent to 127.0.0.1:45454 in ASTERIX format.

The asterix module will recieve these obstacles from 127.0.0.1:45454 and convert to a ADSB_VEHICLE MAVLink message and then on-send to ArduPilot.

If ADSB avoidance is enabled, ArduPilot will then attempt to avoid the object.