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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-01-04 15:17:07 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-01-04 15:17:07 +0100 |
| commit | 31d1f436adad9dd963797872fa3575319099e940 (patch) | |
| tree | 1e827e4a364997766c4c013e505b9ae434798f47 /src/modules/navigator/geofence.cpp | |
| parent | ec60a254d279e826c1d3d8097dcbe4bfa89d1e89 (diff) | |
| download | px4-firmware-31d1f436adad9dd963797872fa3575319099e940.tar.gz px4-firmware-31d1f436adad9dd963797872fa3575319099e940.tar.bz2 px4-firmware-31d1f436adad9dd963797872fa3575319099e940.zip | |
geofence: add simple vertical check
Diffstat (limited to 'src/modules/navigator/geofence.cpp')
| -rw-r--r-- | src/modules/navigator/geofence.cpp | 10 |
1 files changed, 8 insertions, 2 deletions
diff --git a/src/modules/navigator/geofence.cpp b/src/modules/navigator/geofence.cpp index 666d9076e..f76597e60 100644 --- a/src/modules/navigator/geofence.cpp +++ b/src/modules/navigator/geofence.cpp @@ -72,12 +72,18 @@ bool Geofence::inside(const struct vehicle_global_position_s *vehicle) { double lat = vehicle->lat / 1e7d; double lon = vehicle->lon / 1e7d; + float alt = vehicle->alt; - return inside(lat, lon); + return inside(lat, lon, vehicle->alt); } -bool Geofence::inside(double lat, double lon) +bool Geofence::inside(double lat, double lon, float altitude) { + /* Vertical check */ + if (altitude > _altitude_max || altitude < _altitude_min) + return false; + + /*Horizontal check */ /* Adaptation of algorithm originally presented as * PNPOLY - Point Inclusion in Polygon Test * W. Randolph Franklin (WRF) */ |