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Geofence: rework the way to check all GF at once

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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 a41f24a2e2
commit 3c194d552a
4 changed files with 8 additions and 59 deletions
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src/modules/navigator/mission_feasibility_checker.cpp
+2 -1
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@@ -137,7 +137,8 @@ MissionFeasibilityChecker::checkMissionAgainstGeofence(const mission_s &mission,
// 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) && !_navigator->get_geofence().check(missionitem)) {
if (MissionBlock::item_contains_position(missionitem) && !_navigator->get_geofence().checkPointAgainstAllGeofences(
missionitem.lat, missionitem.lon, missionitem.altitude)) {
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Geofence violation for waypoint %zu\t", i + 1);
events::send<int16_t>(events::ID("navigator_mis_geofence_violation"), {events::Log::Error, events::LogInternal::Info},