fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-21 03:23:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

navigator geofence: switch to new dataman data structure, support multiple polygons

Browse Source 
This also removes the 'navigator fence <lon> <lat>' command to simplify
code (I don't think there's still use for that anymore). However the
file loading is still supported.

If goefence.txt does not exist, navigator will not clear the geofence
anymore on startup.
This commit is contained in:
Beat Küng
2017-08-04 18:08:51 +02:00
committed by Lorenz Meier
parent a987886ca3
commit 328e84117e
6 changed files with 315 additions and 185 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/navigator/mission_feasibility_checker.cpp
+2 -1
View File
@@ -188,7 +188,8 @@ MissionFeasibilityChecker::checkGeofence(dm_item_t dm_current, size_t nMissionIt
// Geofence function checks against home altitude amsl
missionitem.altitude = missionitem.altitude_is_relative ? missionitem.altitude + home_alt : missionitem.altitude;
if (MissionBlock::item_contains_position(&missionitem) && !geofence.inside(missionitem)) {
if (MissionBlock::item_contains_position(&missionitem) &&
!geofence.check(missionitem)) {
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Geofence violation for waypoint %d", i + 1);
return false;