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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/navigator/navigator_main.cpp
+13
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@@ -870,6 +870,19 @@ void Navigator::geofence_breach_check(bool &have_geofence_position_data)
/* inform other apps via the mission result */
_geofence_result.primary_geofence_breached = true;
using geofence_violation_reason_t = events::px4::enums::geofence_violation_reason_t;
if (gf_violation_type.flags.fence_violation) {
_geofence_result.geofence_violation_reason = (uint8_t)geofence_violation_reason_t::fence_violation;
} else if (gf_violation_type.flags.max_altitude_exceeded) {
_geofence_result.geofence_violation_reason = (uint8_t)geofence_violation_reason_t::max_altitude_exceeded;
} else if (gf_violation_type.flags.dist_to_home_exceeded) {
_geofence_result.geofence_violation_reason = (uint8_t)geofence_violation_reason_t::dist_to_home_exceeded;
}
/* Issue a warning about the geofence violation once and only if we are armed */
if (!_geofence_violation_warning_sent && _vstatus.arming_state == vehicle_status_s::ARMING_STATE_ARMED) {