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Geofence max horizontal and vertical distance

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-changes GF_ON to GF_MODE
-adds GF_MAX_HOR_DIST and GF_MAX_VER_DIST params
This commit is contained in:
Daniel Agar
2015-04-13 22:22:19 -04:00
parent 3c36a61569
commit 25dfd84b40
5 changed files with 91 additions and 14 deletions
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src/modules/navigator/geofence.h
+10 -2
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@@ -45,6 +45,7 @@
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/home_position.h>
#include <controllib/blocks.hpp>
#include <controllib/block/BlockParam.hpp>
@@ -76,7 +77,9 @@ public:
* @return true: system is inside fence, false: system is outside fence
*/
bool inside(const struct vehicle_global_position_s &global_position,
const struct vehicle_gps_position_s &gps_position, float baro_altitude_amsl);
const struct vehicle_gps_position_s &gps_position, float baro_altitude_amsl,
const struct home_position_s home_pos, bool home_position_set);
bool inside_polygon(double lat, double lon, float altitude);
int clearDm();
@@ -103,16 +106,21 @@ public:
private:
orb_advert_t _fence_pub; /**< publish fence topic */
home_position_s _home_pos;
bool _home_pos_set;
float _altitude_min;
float _altitude_max;
unsigned _verticesCount;
/* Params */
control::BlockParamInt _param_geofence_on;
control::BlockParamInt _param_geofence_mode;
control::BlockParamInt _param_altitude_mode;
control::BlockParamInt _param_source;
control::BlockParamInt _param_counter_threshold;
control::BlockParamInt _param_max_hor_distance;
control::BlockParamInt _param_max_ver_distance;
uint8_t _outside_counter;