Add data manager module and fence support to navigator

- Add function to geo.c to determine if global position is inside fence
- Add navigator support/commands for maintaining fence coords.
- Add data manager module to support persistence fence storage. Can
store other data, but only used for fence at this time.
- Add unit tests for data manager

1 files changed, 14 insertions, 0 deletions

diff --git a/src/lib/geo/geo.h b/src/lib/geo/geo.h
index 123ff80f1..6bce9309b 100644
--- a/src/lib/geo/geo.h
+++ b/src/lib/geo/geo.h
@@ -47,6 +47,9 @@
 
 #pragma once
 
+#include "uORB/topics/fence.h"
+#include "uORB/topics/vehicle_global_position.h"
+
 __BEGIN_DECLS
 
 #include <stdbool.h>
@@ -126,4 +129,15 @@ __EXPORT float _wrap_360(float bearing);
 __EXPORT float _wrap_pi(float bearing);
 __EXPORT float _wrap_2pi(float bearing);
 
+/**
+ * Return whether craft is inside geofence.
+ *
+ * Calculate whether point is inside arbitrary polygon
+ * @param craft pointer craft coordinates
+ * @param fence pointer to array of coordinates, one per vertex. First and last vertex are assumed connected
+ * @return true: craft is inside fence, false:craft is outside fence
+ */
+__EXPORT bool inside_geofence(const struct vehicle_global_position_s *craft, const struct fence_s *fence);
+
+
 __END_DECLS