Geofence max horizontal and vertical distance

-changes GF_ON to GF_MODE
-adds GF_MAX_HOR_DIST and GF_MAX_VER_DIST params

1 files changed, 10 insertions, 2 deletions

diff --git a/src/modules/navigator/geofence.h b/src/modules/navigator/geofence.h
index 37a41b68a..effce9e97 100644
--- a/src/modules/navigator/geofence.h
+++ b/src/modules/navigator/geofence.h
@@ -45,6 +45,7 @@
 #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>
 
@@ -76,7 +77,9 @@ 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 +106,21 @@ public:
 private:
 	orb_advert_t	_fence_pub;			/**< publish fence topic */
 
+	home_position_s _home_pos;
+	bool _home_pos_set;
+
 	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;