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Support oac switching in command queue

Merged shibohan requested to merge support-oac-switching-in-command-queue into master

Changes:

  • Now OAC observes a data pool flag to determine whether to resume/pause obstacle avoidance main thread.
  • Now OAC on/off commands are supported in the command queue

Test Procedure:

  • Verify OAC is still working
  • Try a simple command queue with OAC switching
    • e.g. START oac on THEN delay 5000 THEN oac off END You should observe OAC turn on at the beginning, then paused after 5 seconds

DRONEOA Merge Request Submission Checklist

NOTE: DO NOT EDIT TEXT BELOW BEFORE CREATING YOUR MERGE REQUEST!

  • I have ensured my commit message includes explanation and description of the fix/change

  • I have updated any documentation related to any changes in this request. (e.g. wiki page, Doxygen comments)

  • If the change crosses multiple repos, the link is provided and both requests need to be approved before merge.

  • I have built and tested this change locally.

  • I have ensured that no copyright resources are used without reference. (Depends on resource policy)

  • I have ensured that the merge request is correctly labeled

  • I will squash commits on merge

  • I will change labels for both Issue(s) and merge request(s) to MERGED after merge

Edited by shibohan