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geofence: reposition to current location when violating geofence in hold mode

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This can only happen if the vehicle is executing a go to.
This commit is contained in:
daniele
2020-04-08 21:16:31 -04:00
committed by Daniel Agar
parent d53dccc319
commit 6ea60b5165
1 changed files with 16 additions and 0 deletions
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src/modules/navigator/navigator_main.cpp
+16
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@@ -487,6 +487,22 @@ Navigator::run()
/* Issue a warning about the geofence violation once */ /* Issue a warning about the geofence violation once */
if (!_geofence_violation_warning_sent) { if (!_geofence_violation_warning_sent) {
mavlink_log_critical(&_mavlink_log_pub, "Geofence violation"); mavlink_log_critical(&_mavlink_log_pub, "Geofence violation");
/* If we are already in loiter it is very likely that we are doing a reposition
* so we should block that by repositioning in the current location */
if (_geofence.getGeofenceAction() != geofence_result_s::GF_ACTION_WARN
&& get_vstatus()->nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER) {
position_setpoint_triplet_s *rep = get_reposition_triplet();
rep->current.yaw = get_global_position()->yaw;
rep->current.lat = get_global_position()->lat;
rep->current.lon = get_global_position()->lon;
rep->current.alt = get_global_position()->alt;
rep->current.valid = true;
_pos_sp_triplet_updated = true;
}
_geofence_violation_warning_sent = true; _geofence_violation_warning_sent = true;
} }