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Geofence: rework messaging and notification

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- do reporting of breaching in-air only in geofenceCheck
- remove geofence_violation_reason_t
- replace geofence_breached field in GeofenceResult.msg with 3 fields
(one for each GF type: max dist, max alt, custom geofence)
- the warning message after breaching a GF is only done by Commander,
and it's specific to the GF type failure

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-11-22 21:45:02 -05:00
committed by Daniel Agar
parent 3c194d552a
commit 2865bbb8ab
10 changed files with 127 additions and 123 deletions
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src/modules/commander/failsafe/failsafe.cpp
+1 -1
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@@ -442,7 +442,7 @@ void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state,
CHECK_FAILSAFE(status_flags, local_position_accuracy_low, ActionOptions(Action::RTL));
}
CHECK_FAILSAFE(status_flags, primary_geofence_breached, fromGfActParam(_param_gf_action.get()).cannotBeDeferred());
CHECK_FAILSAFE(status_flags, geofence_breached, fromGfActParam(_param_gf_action.get()).cannotBeDeferred());
// Battery
CHECK_FAILSAFE(status_flags, battery_low_remaining_time,