mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-22 10:33:33 +08:00
Silvan Fuhrer
2865bbb8ab
- do reporting of breaching in-air only in geofenceCheck - remove geofence_violation_reason_t - replace geofence_breached field in GeofenceResult.msg with 3 fields (one for each GF type: max dist, max alt, custom geofence) - the warning message after breaching a GF is only done by Commander, and it's specific to the GF type failure Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
120 lines
3.6 KiB
C
120 lines
3.6 KiB
C
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2013-2016 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
|
|
* are met:
|
|
*
|
|
* 1. Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* 2. Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in
|
|
* the documentation and/or other materials provided with the
|
|
* distribution.
|
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
|
* used to endorse or promote products derived from this software
|
|
* without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/**
|
|
* @file geofence_params.c
|
|
*
|
|
* Parameters for geofence
|
|
*
|
|
* @author Thomas Gubler <thomasgubler@gmail.com>
|
|
*/
|
|
|
|
/*
|
|
* Geofence parameters, accessible via MAVLink
|
|
*/
|
|
|
|
/**
|
|
* Geofence violation action.
|
|
*
|
|
* Note: Setting this value to 4 enables flight termination,
|
|
* which will kill the vehicle on violation of the fence.
|
|
*
|
|
* @min 0
|
|
* @max 5
|
|
* @value 0 None
|
|
* @value 1 Warning
|
|
* @value 2 Hold mode
|
|
* @value 3 Return mode
|
|
* @value 4 Terminate
|
|
* @value 5 Land mode
|
|
* @group Geofence
|
|
*/
|
|
PARAM_DEFINE_INT32(GF_ACTION, 2);
|
|
|
|
/**
|
|
* Geofence source
|
|
*
|
|
* Select which position source should be used. Selecting GPS instead of global position makes sure that there is
|
|
* no dependence on the position estimator
|
|
* 0 = global position, 1 = GPS
|
|
*
|
|
* @min 0
|
|
* @max 1
|
|
* @value 0 GPOS
|
|
* @value 1 GPS
|
|
* @group Geofence
|
|
*/
|
|
PARAM_DEFINE_INT32(GF_SOURCE, 0);
|
|
|
|
/**
|
|
* Max horizontal distance from Home
|
|
*
|
|
* Maximum horizontal distance in meters the vehicle can be from Home before triggering a geofence action.
|
|
* Disabled if 0.
|
|
*
|
|
* @unit m
|
|
* @min 0
|
|
* @max 10000
|
|
* @increment 1
|
|
* @group Geofence
|
|
*/
|
|
PARAM_DEFINE_FLOAT(GF_MAX_HOR_DIST, 0.0f);
|
|
|
|
/**
|
|
* Max vertical distance from Home
|
|
*
|
|
* Maximum vertical distance in meters the vehicle can be from Home before triggering a geofence action.
|
|
* Disabled if 0.
|
|
*
|
|
* @unit m
|
|
* @min 0
|
|
* @max 10000
|
|
* @increment 1
|
|
* @group Geofence
|
|
*/
|
|
PARAM_DEFINE_FLOAT(GF_MAX_VER_DIST, 0.0f);
|
|
|
|
/**
|
|
* [EXPERIMENTAL] Use Pre-emptive geofence triggering
|
|
*
|
|
* WARNING: This experimental feature may cause flyaways. Use at your own risk.
|
|
*
|
|
* Predict the motion of the vehicle and trigger the breach if it is determined that the current trajectory
|
|
* would result in a breach happening before the vehicle can make evasive maneuvers.
|
|
* The vehicle is then re-routed to a safe hold position (stop for multirotor, loiter for fixed wing).
|
|
*
|
|
* @boolean
|
|
* @group Geofence
|
|
*/
|
|
PARAM_DEFINE_INT32(GF_PREDICT, 0);
|