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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/navigator_main.cpp
+9 -2
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@@ -123,6 +123,7 @@ Navigator::Navigator() :
_pos_sp_triplet{},
_mission_result{},
_att_sp{},
_home_position_set(false),
_mission_item_valid(false),
_loop_perf(perf_alloc(PC_ELAPSED, "navigator")),
_geofence{},
@@ -203,7 +204,13 @@ Navigator::sensor_combined_update()
void
Navigator::home_position_update()
{
orb_copy(ORB_ID(home_position), _home_pos_sub, &_home_pos);
bool updated = false;
orb_check(_home_pos_sub, &updated);
if (updated) {
orb_copy(ORB_ID(home_position), _home_pos_sub, &_home_pos);
_home_position_set = true;
}
}
void
@@ -392,7 +399,7 @@ Navigator::task_main()
/* Check geofence violation */
static hrt_abstime last_geofence_check = 0;
if (have_geofence_position_data && hrt_elapsed_time(&last_geofence_check) > GEOFENCE_CHECK_INTERVAL) {
bool inside = _geofence.inside(_global_pos, _gps_pos, _sensor_combined.baro_alt_meter);
bool inside = _geofence.inside(_global_pos, _gps_pos, _sensor_combined.baro_alt_meter, _home_pos, _home_position_set);
last_geofence_check = hrt_absolute_time();
have_geofence_position_data = false;
if (!inside) {