Currently “collision prevention” only works in position mode taking in account the OBSTACLE_DISTANCE messages.
Is there a way to make it work in mission mode as well? I think if a simple sensor is present that provide OBSTACLE_DISTANCE messages, it would be great to stop a vehicle even when in mission mode. There is usually no scenario where you don’t want the vehicle to crash.
I understand that “obstacle avoidance” via local or global planner is the suggested approach for mission mode.
But often it is better to just stop and don’t crash as an alternative to a more complicated and expensive implementation of a planning approach, even if the vehicle can’t react further apart from hovering.
Any thoughts on enabling collision prevention mission mode?