diff options
Diffstat (limited to 'src/modules/navigator/geofence.h')
| -rw-r--r-- | src/modules/navigator/geofence.h | 16 |
1 files changed, 14 insertions, 2 deletions
diff --git a/src/modules/navigator/geofence.h b/src/modules/navigator/geofence.h index 37a41b68a..96764cc97 100644 --- a/src/modules/navigator/geofence.h +++ b/src/modules/navigator/geofence.h @@ -45,8 +45,10 @@ #include <uORB/topics/vehicle_global_position.h> #include <uORB/topics/vehicle_gps_position.h> #include <uORB/topics/sensor_combined.h> +#include <uORB/topics/home_position.h> #include <controllib/blocks.hpp> #include <controllib/block/BlockParam.hpp> +#include <drivers/drv_hrt.h> #define GEOFENCE_FILENAME "/fs/microsd/etc/geofence.txt" @@ -76,7 +78,9 @@ public: * @return true: system is inside fence, false: system is outside fence */ bool inside(const struct vehicle_global_position_s &global_position, - const struct vehicle_gps_position_s &gps_position, float baro_altitude_amsl); + const struct vehicle_gps_position_s &gps_position, float baro_altitude_amsl, + const struct home_position_s home_pos, bool home_position_set); + bool inside_polygon(double lat, double lon, float altitude); int clearDm(); @@ -103,16 +107,24 @@ public: private: orb_advert_t _fence_pub; /**< publish fence topic */ + home_position_s _home_pos; + bool _home_pos_set; + + hrt_abstime _last_horizontal_range_warning; + hrt_abstime _last_vertical_range_warning; + float _altitude_min; float _altitude_max; unsigned _verticesCount; /* Params */ - control::BlockParamInt _param_geofence_on; + control::BlockParamInt _param_geofence_mode; control::BlockParamInt _param_altitude_mode; control::BlockParamInt _param_source; control::BlockParamInt _param_counter_threshold; + control::BlockParamInt _param_max_hor_distance; + control::BlockParamInt _param_max_ver_distance; uint8_t _outside_counter; |