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geofence violation actions

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This commit is contained in:
Daniel Agar
2015-10-27 09:28:30 +01:00
committed by Lorenz Meier
parent 6fd1daf279
commit a2ba34d1ae
6 changed files with 149 additions and 64 deletions
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src/modules/navigator/navigator_main.cpp
+5 -1
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@@ -405,10 +405,14 @@ Navigator::task_main()
/* Check geofence violation */
static hrt_abstime last_geofence_check = 0;
if (have_geofence_position_data && hrt_elapsed_time(&last_geofence_check) > GEOFENCE_CHECK_INTERVAL) {
if (have_geofence_position_data &&
(_geofence.getGeofenceAction() != geofence_result_s::GF_ACTION_NONE) &&
(hrt_elapsed_time(&last_geofence_check) > GEOFENCE_CHECK_INTERVAL)) {
bool inside = _geofence.inside(_global_pos, _gps_pos, _sensor_combined.baro_alt_meter[0], _home_pos, _home_position_set);
last_geofence_check = hrt_absolute_time();
have_geofence_position_data = false;
_geofence_result.geofence_action = _geofence.getGeofenceAction();
if (!inside) {
/* inform other apps via the mission result */
_geofence_result.geofence_violated = true;