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Geofence: remove GF_COUNT

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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 fd709e05b0
commit 563bfbf6e7
3 changed files with 3 additions and 27 deletions
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src/modules/navigator/geofence.cpp
+2 -14
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@@ -259,20 +259,8 @@ bool Geofence::checkAll(double lat, double lon, float altitude)
// as they both report being inside when not enabled // as they both report being inside when not enabled
inside_fence = inside_fence && isInsidePolygonOrCircle(lat, lon, altitude); inside_fence = inside_fence && isInsidePolygonOrCircle(lat, lon, altitude);
if (inside_fence) { return inside_fence;
_outside_counter = 0; }
return inside_fence;
} else {
_outside_counter++;
if (_outside_counter > _param_gf_count.get()) {
return inside_fence;
} else {
return true;
}
}
} }
bool Geofence::check(const vehicle_global_position_s &global_position, const sensor_gps_s &gps_position) bool Geofence::check(const vehicle_global_position_s &global_position, const sensor_gps_s &gps_position)
src/modules/navigator/geofence.h
-2
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@@ -189,7 +189,6 @@ private:
MapProjection _projection_reference{}; ///< class to convert (lon, lat) to local [m] 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 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 _fence_updated{true}; ///< flag indicating if fence are updated to dataman cache
bool _initiate_fence_updated{true}; ///< flag indicating if fence updated is needed bool _initiate_fence_updated{true}; ///< flag indicating if fence updated is needed
@@ -231,7 +230,6 @@ private:
DEFINE_PARAMETERS( DEFINE_PARAMETERS(
(ParamInt<px4::params::GF_ACTION>) _param_gf_action, (ParamInt<px4::params::GF_ACTION>) _param_gf_action,
(ParamInt<px4::params::GF_SOURCE>) _param_gf_source, (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_HOR_DIST>) _param_gf_max_hor_dist,
(ParamFloat<px4::params::GF_MAX_VER_DIST>) _param_gf_max_ver_dist, (ParamFloat<px4::params::GF_MAX_VER_DIST>) _param_gf_max_ver_dist,
(ParamBool<px4::params::GF_PREDICT>) _param_gf_predict (ParamBool<px4::params::GF_PREDICT>) _param_gf_predict
src/modules/navigator/geofence_params.c
+1 -11
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@@ -76,17 +76,7 @@ PARAM_DEFINE_INT32(GF_ACTION, 2);
*/ */
PARAM_DEFINE_INT32(GF_SOURCE, 0); 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. * Max horizontal distance in meters.