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flight termination on geofence violation

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This commit is contained in:
Thomas Gubler
2014-07-19 19:25:53 +02:00
parent fd50655354
commit 7baa337d9b
3 changed files with 19 additions and 0 deletions
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src/modules/navigator/navigator_main.cpp
+10
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@@ -335,6 +335,11 @@ Navigator::task_main()
/* Check geofence violation */
if (!_geofence.inside(&_global_pos)) {
/* inform other apps via the sp triplet */
_pos_sp_triplet.geofence_violated = true;
if (_pos_sp_triplet.geofence_violated != true) {
_pos_sp_triplet_updated = true;
}
/* Issue a warning about the geofence violation once */
if (!_geofence_violation_warning_sent) {
@@ -342,6 +347,11 @@ Navigator::task_main()
_geofence_violation_warning_sent = true;
}
} else {
/* inform other apps via the sp triplet */
_pos_sp_triplet.geofence_violated = false;
if (_pos_sp_triplet.geofence_violated != false) {
_pos_sp_triplet_updated = true;
}
/* Reset the _geofence_violation_warning_sent field */
_geofence_violation_warning_sent = false;
}