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commander: added prearm check for geofence violation

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- if geofence action is not none, then don't allow arming outside of geofence

Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst
2021-05-06 14:43:13 +03:00
committed by Roman Bapst
parent 6215e6c7ec
commit 3ac8c23dd0
3 changed files with 11 additions and 0 deletions
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src/modules/commander/Commander.cpp
+2
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@@ -1733,6 +1733,7 @@ Commander::run()
_arm_requirements.esc_check = _param_escs_checks_required.get();
_arm_requirements.global_position = !_param_arm_without_gps.get();
_arm_requirements.mission = _param_arm_mission_required.get();
_arm_requirements.geofence = _param_geofence_action.get() > geofence_result_s::GF_ACTION_NONE;
/* flight mode slots */
_flight_mode_slots[0] = _param_fltmode_1.get();
@@ -2114,6 +2115,7 @@ Commander::run()
/* start geofence result check */
_geofence_result_sub.update(&_geofence_result);
_status.geofence_violated = _geofence_result.geofence_violated;
const bool in_low_battery_failsafe = _battery_warning > battery_status_s::BATTERY_WARNING_LOW;