Merge remote-tracking branch 'jean-m-cyr/master' into navigator_wip

src/modules/uORB/objects_common.cpp

@@ -129,6 +129,9 @@ ORB_DEFINE(vehicle_global_velocity_setpoint, struct vehicle_global_velocity_setp
 #include "topics/mission.h"
 ORB_DEFINE(mission, struct mission_s);
 
+#include "topics/fence.h"
+ORB_DEFINE(fence, unsigned);
+
 #include "topics/vehicle_attitude_setpoint.h"
 ORB_DEFINE(vehicle_attitude_setpoint, struct vehicle_attitude_setpoint_s);
 

src/modules/uORB/topics/fence.h

@@ -0,0 +1,80 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Jean Cyr <jean.m.cyr@gmail.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file fence.h
+ * Definition of geofence.
+ */
+
+#ifndef TOPIC_FENCE_H_
+#define TOPIC_FENCE_H_
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+#define GEOFENCE_MAX_VERTICES 16
+
+/**
+ * This is the position of a geofence vertex
+ *
+ */
+struct fence_vertex_s {
+	// Worst case float precision gives us 2 meter resolution at the equator
+	float lat;			/**< latitude in degrees */
+	float lon;			/**< longitude in degrees */
+};
+
+/**
+ * This is the position of a geofence
+ *
+ */
+struct fence_s { 
+	unsigned count;     /**< number of actual vertices */
+	struct fence_vertex_s vertices[GEOFENCE_MAX_VERTICES];
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(fence);
+
+#endif