fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-26 07:03:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

geofence: implement circular areas

Browse Source
This commit is contained in:
Beat Küng
2017-08-04 18:08:51 +02:00
committed by Lorenz Meier
parent 6667b6434b
commit ed478f40fd
4 changed files with 143 additions and 25 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/navigator/navigation.h
+5 -1
View File
@@ -117,6 +117,7 @@ struct mission_item_s {
union {
float time_inside; /**< time that the MAV should stay inside the radius before advancing in seconds */
float pitch_min; /**< minimal pitch angle for fixed wing takeoff waypoints */
float circle_radius; /**< geofence circle radius in meters (only used for NAV_CMD_NAV_FENCE_CIRCLE*) */
};
float acceptance_radius; /**< default radius in which the mission is accepted as reached in meters */
float loiter_radius; /**< loiter radius in meters, 0 for a VTOL to hover, negative for counter-clockwise */
@@ -163,7 +164,10 @@ struct mission_fence_point_s {
double lon;
float alt;
uint16_t nav_cmd; /**< navigation command (one of MAV_CMD_NAV_FENCE_*) */
uint16_t vertex_count; /**< number of vertices in this polygon */
union {
uint16_t vertex_count; /**< number of vertices in this polygon */
float circle_radius; /**< geofence circle radius in meters (only used for NAV_CMD_NAV_FENCE_CIRCLE*) */
};
uint8_t frame; /**< MAV_FRAME */
};