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geofence: add and report reason for violation

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This commit is contained in:
Beat Küng
2022-10-11 22:31:20 -04:00
committed by Daniel Agar
parent ebc88afe46
commit acaa50a448
4 changed files with 37 additions and 3 deletions
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src/modules/commander/HealthAndArmingChecks/checks/geofenceCheck.cpp
+5 -3
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@@ -50,11 +50,13 @@ void GeofenceChecks::checkAndReport(const Context &context, Report &reporter)
* This check can be configured via <param>GF_ACTION</param> parameter.
* </profile>
*/
reporter.armingCheckFailure(NavModes::All, health_component_t::system, events::ID("check_gf_violation"),
events::Log::Error, "Vehicle outside geofence");
reporter.armingCheckFailure<events::px4::enums::geofence_violation_reason_t>(NavModes::All, health_component_t::system,
events::ID("check_gf_violation"),
events::Log::Error, "Geofence violation: {1}",
(events::px4::enums::geofence_violation_reason_t)geofence_result.geofence_violation_reason);
if (reporter.mavlink_log_pub()) {
mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Vehicle outside geofence");
mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Geofence violation");
}
}