geofence: can select gps instead of global position

1 files changed, 9 insertions, 0 deletions

diff --git a/src/modules/navigator/navigator.h b/src/modules/navigator/navigator.h
index 709e3e724..840b43f1b 100644
--- a/src/modules/navigator/navigator.h
+++ b/src/modules/navigator/navigator.h
@@ -51,6 +51,7 @@
 #include <uORB/topics/vehicle_control_mode.h>
 #include <uORB/topics/position_setpoint_triplet.h>
 #include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/vehicle_gps_position.h>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/mission_result.h>
 #include <uORB/topics/vehicle_attitude_setpoint.h>
@@ -129,6 +130,7 @@ public:
 	struct vehicle_status_s*	    get_vstatus() { return &_vstatus; }
 	struct vehicle_control_mode_s*	    get_control_mode() { return &_control_mode; }
 	struct vehicle_global_position_s*   get_global_position() { return &_global_pos; }
+	struct vehicle_gps_position_s*	    get_gps_position() { return &_gps_pos; }
 	struct sensor_combined_s*	    get_sensor_combined() { return &_sensor_combined; }
 	struct home_position_s*		    get_home_position() { return &_home_pos; }
 	struct position_setpoint_triplet_s* get_position_setpoint_triplet() { return &_pos_sp_triplet; }
@@ -152,6 +154,7 @@ private:
 	int		_mavlink_fd;			/**< the file descriptor to send messages over mavlink */
 
 	int		_global_pos_sub;		/**< global position subscription */
+	int		_gps_pos_sub;		/**< gps position subscription */
 	int		_sensor_combined_sub;		/**< sensor combined subscription */
 	int		_home_pos_sub;			/**< home position subscription */
 	int		_vstatus_sub;			/**< vehicle status subscription */
@@ -171,6 +174,7 @@ private:
 	vehicle_status_s				_vstatus;		/**< vehicle status */
 	vehicle_control_mode_s				_control_mode;		/**< vehicle control mode */
 	vehicle_global_position_s			_global_pos;		/**< global vehicle position */
+	vehicle_gps_position_s				_gps_pos;		/**< gps position */
 	sensor_combined_s				_sensor_combined;	/**< sensor values */
 	home_position_s					_home_pos;		/**< home position for RTL */
 	mission_item_s 					_mission_item;		/**< current mission item */
@@ -217,6 +221,11 @@ private:
 	void		global_position_update();
 
 	/**
+	 * Retrieve gps position
+	 */
+	void		gps_position_update();
+
+	/**
 	 * Retrieve sensor values
 	 */
 	void		sensor_combined_update();