From 31d1f436adad9dd963797872fa3575319099e940 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sat, 4 Jan 2014 15:17:07 +0100 Subject: [PATCH] geofence: add simple vertical check --- src/modules/navigator/geofence.cpp | 10 ++++++++-- src/modules/navigator/geofence.h | 2 +- src/modules/navigator/mission_feasibility_checker.cpp | 2 +- 3 files changed, 10 insertions(+), 4 deletions(-) diff --git a/src/modules/navigator/geofence.cpp b/src/modules/navigator/geofence.cpp index 666d9076e3..f76597e607 100644 --- a/src/modules/navigator/geofence.cpp +++ b/src/modules/navigator/geofence.cpp @@ -72,12 +72,18 @@ bool Geofence::inside(const struct vehicle_global_position_s *vehicle) { double lat = vehicle->lat / 1e7d; double lon = vehicle->lon / 1e7d; + float alt = vehicle->alt; - return inside(lat, lon); + return inside(lat, lon, vehicle->alt); } -bool Geofence::inside(double lat, double lon) +bool Geofence::inside(double lat, double lon, float altitude) { + /* Vertical check */ + if (altitude > _altitude_max || altitude < _altitude_min) + return false; + + /*Horizontal check */ /* Adaptation of algorithm originally presented as * PNPOLY - Point Inclusion in Polygon Test * W. Randolph Franklin (WRF) */ diff --git a/src/modules/navigator/geofence.h b/src/modules/navigator/geofence.h index 0335f58f61..d834280ccf 100644 --- a/src/modules/navigator/geofence.h +++ b/src/modules/navigator/geofence.h @@ -64,7 +64,7 @@ public: * @return true: craft is inside fence, false:craft is outside fence */ bool inside(const struct vehicle_global_position_s *craft); - bool inside(double lat, double lon); + bool inside(double lat, double lon, float altitude); /** diff --git a/src/modules/navigator/mission_feasibility_checker.cpp b/src/modules/navigator/mission_feasibility_checker.cpp index 798e95faa5..eaafa217de 100644 --- a/src/modules/navigator/mission_feasibility_checker.cpp +++ b/src/modules/navigator/mission_feasibility_checker.cpp @@ -108,7 +108,7 @@ bool MissionFeasibilityChecker::checkGeofence(dm_item_t dm_current, size_t nMiss return false; } - if (!geofence.inside(missionitem.lat, missionitem.lon)) { + if (!geofence.inside(missionitem.lat, missionitem.lon, missionitem.altitude)) { //xxx: handle relative altitude mavlink_log_info(_mavlink_fd, "#audio: Geofence violation waypoint %d", i); return false; }