From 563bfbf6e7483cb8d5ced4704063f9b790d0aef8 Mon Sep 17 00:00:00 2001
From: Silvan Fuhrer <silvan@auterion.com>
Date: Thu, 16 Nov 2023 13:58:07 +0100
Subject: [PATCH] Geofence: remove GF_COUNT

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
---
 src/modules/navigator/geofence.cpp      | 16 ++--------------
 src/modules/navigator/geofence.h        |  2 --
 src/modules/navigator/geofence_params.c | 12 +-----------
 3 files changed, 3 insertions(+), 27 deletions(-)

diff --git a/src/modules/navigator/geofence.cpp b/src/modules/navigator/geofence.cpp
index 9b01736f3d..1a2c4395ae 100644
--- a/src/modules/navigator/geofence.cpp
+++ b/src/modules/navigator/geofence.cpp
@@ -259,20 +259,8 @@ bool Geofence::checkAll(double lat, double lon, float altitude)
 	// as they both report being inside when not enabled
 	inside_fence = inside_fence && isInsidePolygonOrCircle(lat, lon, altitude);
 
-	if (inside_fence) {
-		_outside_counter = 0;
-		return inside_fence;
-
-	} else {
-		_outside_counter++;
-
-		if (_outside_counter > _param_gf_count.get()) {
-			return inside_fence;
-
-		} else {
-			return true;
-		}
-	}
+	return inside_fence;
+}
 }
 
 bool Geofence::check(const vehicle_global_position_s &global_position, const sensor_gps_s &gps_position)
diff --git a/src/modules/navigator/geofence.h b/src/modules/navigator/geofence.h
index 0359141404..329edf6ca8 100644
--- a/src/modules/navigator/geofence.h
+++ b/src/modules/navigator/geofence.h
@@ -189,7 +189,6 @@ private:
 	MapProjection _projection_reference{}; ///< class to convert (lon, lat) to local [m]
 
 
-	int _outside_counter{0};
 	uint16_t _update_counter{0}; ///< dataman update counter: if it does not match, polygon data was updated
 	bool _fence_updated{true};  ///< flag indicating if fence are updated to dataman cache
 	bool _initiate_fence_updated{true}; ///< flag indicating if fence updated is needed
@@ -231,7 +230,6 @@ private:
 	DEFINE_PARAMETERS(
 		(ParamInt<px4::params::GF_ACTION>)         _param_gf_action,
 		(ParamInt<px4::params::GF_SOURCE>)         _param_gf_source,
-		(ParamInt<px4::params::GF_COUNT>)          _param_gf_count,
 		(ParamFloat<px4::params::GF_MAX_HOR_DIST>) _param_gf_max_hor_dist,
 		(ParamFloat<px4::params::GF_MAX_VER_DIST>) _param_gf_max_ver_dist,
 		(ParamBool<px4::params::GF_PREDICT>)       _param_gf_predict
diff --git a/src/modules/navigator/geofence_params.c b/src/modules/navigator/geofence_params.c
index 3d53fa1cdf..cbca819644 100644
--- a/src/modules/navigator/geofence_params.c
+++ b/src/modules/navigator/geofence_params.c
@@ -76,17 +76,7 @@ PARAM_DEFINE_INT32(GF_ACTION, 2);
  */
 PARAM_DEFINE_INT32(GF_SOURCE, 0);
 
-/**
- * Geofence counter limit
- *
- * Set how many subsequent position measurements outside of the fence are needed before geofence violation is triggered
- *
- * @min -1
- * @max 10
- * @increment 1
- * @group Geofence
- */
-PARAM_DEFINE_INT32(GF_COUNT, -1);
+
 
 /**
  * Max horizontal distance in meters.