fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-24 04:23:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Geofence: remove GF_ALTMODE

Browse Source 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-11-22 21:45:02 -05:00
committed by Daniel Agar
parent f3eacb4844
commit fd709e05b0
3 changed files with 6 additions and 49 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/navigator/geofence.cpp
+5 -25
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013,2017 PX4 Development Team. All rights reserved.
* Copyright (c) 2013-2023 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -55,8 +55,7 @@
Geofence::Geofence(Navigator *navigator) :
ModuleParams(navigator),
_navigator(navigator),
_sub_airdata(ORB_ID(vehicle_air_data))
_navigator(navigator)
{
if (_navigator != nullptr) {
updateFence();
@@ -250,11 +249,6 @@ bool Geofence::checkAll(const struct vehicle_global_position_s &global_position)
return checkAll(global_position.lat, global_position.lon, global_position.alt);
}
bool Geofence::checkAll(const struct vehicle_global_position_s &global_position, const float alt)
{
return checkAll(global_position.lat, global_position.lon, alt);
}
bool Geofence::checkAll(double lat, double lon, float altitude)
{
bool inside_fence = isCloserThanMaxDistToHome(lat, lon, altitude);
@@ -283,25 +277,11 @@ bool Geofence::checkAll(double lat, double lon, float altitude)
bool Geofence::check(const vehicle_global_position_s &global_position, const sensor_gps_s &gps_position)
{
if (_param_gf_altmode.get() == Geofence::GF_ALT_MODE_WGS84) {
if (getSource() == Geofence::GF_SOURCE_GLOBALPOS) {
return checkAll(global_position);
} else {
return checkAll(gps_position.latitude_deg, gps_position.longitude_deg, gps_position.altitude_msl_m);
}
if (getSource() == Geofence::GF_SOURCE_GLOBALPOS) {
return checkAll(global_position);
} else {
// get baro altitude
_sub_airdata.update();
const float baro_altitude_amsl = _sub_airdata.get().baro_alt_meter;
if (getSource() == Geofence::GF_SOURCE_GLOBALPOS) {
return checkAll(global_position, baro_altitude_amsl);
} else {
return checkAll(gps_position.latitude_deg, gps_position.longitude_deg, baro_altitude_amsl);
}
return checkAll(gps_position.latitude_deg, gps_position.longitude_deg, gps_position.altitude_msl_m);
}
}