{"action":"opened","issue":{"url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/11576","repository_url":"https://api.github.com/repos/ArduPilot/ardupilot","labels_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/11576/labels{/name}","comments_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/11576/comments","events_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/11576/events","html_url":"https://github.com/ArduPilot/ardupilot/issues/11576","id":455693055,"node_id":"MDU6SXNzdWU0NTU2OTMwNTU=","number":11576,"title":"AC_Avoidance: Dijkstra's should recalculate the path if polygon fence is enabled or disabled","user":{"login":"rmackay9","id":1498098,"node_id":"MDQ6VXNlcjE0OTgwOTg=","avatar_url":"https://avatars2.githubusercontent.com/u/1498098?v=4","gravatar_id":"","url":"https://api.github.com/users/rmackay9","html_url":"https://github.com/rmackay9","followers_url":"https://api.github.com/users/rmackay9/followers","following_url":"https://api.github.com/users/rmackay9/following{/other_user}","gists_url":"https://api.github.com/users/rmackay9/gists{/gist_id}","starred_url":"https://api.github.com/users/rmackay9/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/rmackay9/subscriptions","organizations_url":"https://api.github.com/users/rmackay9/orgs","repos_url":"https://api.github.com/users/rmackay9/repos","events_url":"https://api.github.com/users/rmackay9/events{/privacy}","received_events_url":"https://api.github.com/users/rmackay9/received_events","type":"User","site_admin":false},"labels":[{"id":24269224,"node_id":"MDU6TGFiZWwyNDI2OTIyNA==","url":"https://api.github.com/repos/ArduPilot/ardupilot/labels/Copter","name":"Copter","color":"02e10c","default":false},{"id":24259150,"node_id":"MDU6TGFiZWwyNDI1OTE1MA==","url":"https://api.github.com/repos/ArduPilot/ardupilot/labels/Enhancement","name":"Enhancement","color":"84b6eb","default":false},{"id":24269282,"node_id":"MDU6TGFiZWwyNDI2OTI4Mg==","url":"https://api.github.com/repos/ArduPilot/ardupilot/labels/Rover","name":"Rover","color":"B36F30","default":false}],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":0,"created_at":"2019-06-13T11:44:17Z","updated_at":"2019-06-13T11:44:17Z","closed_at":null,"author_association":"CONTRIBUTOR","body":"The AC_Avoidance/AP_OADijkstra class supports finding the shortest path to the destination avoiding the polygon fence (issues to [extend to the circular fence](https://github.com/ArduPilot/ardupilot/issues/11561) and [proximity sensors are here](https://github.com/ArduPilot/ardupilot/issues/11562)). \r\n\r\nWhen the polygon fence is enabled or disabled (by setting FENCE_ENABLE = 1 or 0) we should recalculate the shortest path.\r\n\r\nThe issue can be reproduced in SITL by doing this:\r\n\r\n- create a polygon fence and a mission which will require the vehicle to avoid the fence to get to the waypoints\r\n- enable Dijkstra's object avoidance (OA_TYPE = 2)\r\n- enter auto mode (the vehicle should begin avoiding the fence)\r\n- disable the polygon fence (FENCE_ENABLE = 0) and note the vehicle continues to avoid the fence\r\n\r\nThe opposite is also true.  So enabling the fence (FENCE_ENABLE = 1) will not cause the Dijkstra's to start avoiding the fence."}}
{"actor":{"display_login":"rmackay9"}}