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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-01-04 13:37:49 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-01-04 13:37:49 +0100 |
| commit | a48264d5d44018412b9443b245e6974d3f54b20d (patch) | |
| tree | 4f3cc3d330ab87a14763edc7c331e02f8e1103dc /src/modules/navigator/geofence.h | |
| parent | 429a11a21d25e34ca711b2c0debb2ac3e84c45ca (diff) | |
| download | px4-firmware-a48264d5d44018412b9443b245e6974d3f54b20d.tar.gz px4-firmware-a48264d5d44018412b9443b245e6974d3f54b20d.tar.bz2 px4-firmware-a48264d5d44018412b9443b245e6974d3f54b20d.zip | |
navigator: load geofence from textfile
Diffstat (limited to 'src/modules/navigator/geofence.h')
| -rw-r--r-- | src/modules/navigator/geofence.h | 13 |
1 files changed, 11 insertions, 2 deletions
diff --git a/src/modules/navigator/geofence.h b/src/modules/navigator/geofence.h index 8f3a07b02..8a1d06e71 100644 --- a/src/modules/navigator/geofence.h +++ b/src/modules/navigator/geofence.h @@ -42,10 +42,15 @@ #include <uORB/topics/fence.h> +#define GEOFENCE_FILENAME "/fs/microsd/etc/geofence.txt" + class Geofence { private: - struct fence_s _fence; + struct fence_s _fence; orb_advert_t _fence_pub; /**< publish fence topic */ + + float _altitude_min; + float _altitude_max; public: Geofence(); ~Geofence(); @@ -64,7 +69,9 @@ public: /** * Load fence parameters. */ - bool load(unsigned vertices); + bool loadFromDm(unsigned vertices); + + int clearDm(); bool valid(); @@ -74,6 +81,8 @@ public: void addPoint(int argc, char *argv[]); void publishFence(unsigned vertices); + + int loadFromFile(const char *filename); }; |