Self-driving car 2.0

Self-driving car that can drives through terrains without actually driving it.

Pathfinding code is in mfd part at the center of the car, self-driving code is in "Engine" part. If use in other crafts, makes sure the instruction per frame in mfd at least 5000, max widget > 300, put vehicle in plane mode and adjust roll PID accordingly. Makes sure AG1 is activated for pathfinding to work.
Feature:
- Greatly improved pathfinding speed.
- Smoother path

Instruction

1. AG1 to power on.
2. Wait until the map fully generated. Click a target location to navigate and wait until the pathfinding complete. (Not recommend navigate when the vehicle is on launch pad or close to building)
3. AG10 to set vehicle max traversable slope angle in degree.

Known Issues

• Some part of the generated path is suboptimal after the algorithm rerouting in second pass of pathfinding.
• The first path node start at more than 40 meters away from vehicle (depends on distance per pixel size) after the path is calculated, which may result in the first node start at below cliff even though vehicle is above cliff. So makes sure the vehicle is not on the edges of cliff or on launch pad when starts pathfinding algorithm
• This does not work on building
• Does not account for terrain slope direction vector, which may cause vehicle to rollover when it travels perpendicular to the slope direction vector
• Suboptimal autopilot navigation which may cause vehicle to rollover when doing tight turns