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geofence: added pre-arm check if too close to fence

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- prevents dangerous situations during and after takeoff when the geofence
breach avoidance tries to push the vehicle away from the fence

Signed-off-by: RomanBapst <bapstroman@gmail.com>
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RomanBapst
2022-01-03 16:53:30 +03:00
parent bdec85fdd0
commit 4c717e2714
9 changed files with 85 additions and 9 deletions
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msg/geofence_result.msg
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@@ -7,6 +7,7 @@ uint8 GF_ACTION_TERMINATE = 4 # flight termination
uint8 GF_ACTION_LAND = 5 # switch to AUTO|LAND
bool geofence_violated # true if the geofence is violated
bool geofence_too_close_on_ground # true if vehicle close than GF_MINDIST_GND while landed or disarmed
uint8 geofence_action # action to take when geofence is violated
bool home_required # true if the geofence requires a valid home position