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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-01-05 10:49:16 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-01-05 10:49:16 +0100 |
| commit | 26af21619b3f2a67c2480872e0f7c14d0572626e (patch) | |
| tree | 877d065066ef9509b2e11261bd5ade4ef9a56a0d /src/modules/navigator/geofence.cpp | |
| parent | 819822e1722dc31c0f97b8494c96a6c292b07185 (diff) | |
| download | px4-firmware-26af21619b3f2a67c2480872e0f7c14d0572626e.tar.gz px4-firmware-26af21619b3f2a67c2480872e0f7c14d0572626e.tar.bz2 px4-firmware-26af21619b3f2a67c2480872e0f7c14d0572626e.zip | |
navigator/geofence: add parameter to disable geofence
Diffstat (limited to 'src/modules/navigator/geofence.cpp')
| -rw-r--r-- | src/modules/navigator/geofence.cpp | 15 |
1 files changed, 13 insertions, 2 deletions
diff --git a/src/modules/navigator/geofence.cpp b/src/modules/navigator/geofence.cpp index a49a71e1b..9bbaf167a 100644 --- a/src/modules/navigator/geofence.cpp +++ b/src/modules/navigator/geofence.cpp @@ -58,9 +58,11 @@ static const int ERROR = -1; Geofence::Geofence() : _fence_pub(-1), _altitude_min(0), _altitude_max(0), - _verticesCount(0) + _verticesCount(0), + param_geofence_on(NULL, "GF_ON", false) { - + /* Load initial params */ + updateParams(); } Geofence::~Geofence() @@ -80,6 +82,10 @@ bool Geofence::inside(const struct vehicle_global_position_s *vehicle) bool Geofence::inside(double lat, double lon, float altitude) { + /* Return true if geofence is disabled */ + if (param_geofence_on.get() != 1) + return true; + if (valid()) { if (!isEmpty()) { @@ -286,3 +292,8 @@ int Geofence::clearDm() { dm_clear(DM_KEY_FENCE_POINTS); } + +void Geofence::updateParams() +{ + param_geofence_on.update(); +} |