Geofence: remove GF_COUNT

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

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)

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

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.