Merge branch 'navigator_new_fw' into navigator_new

6 files changed, 412 insertions, 125 deletions

diff --git a/src/modules/navigator/geofence.cpp b/src/modules/navigator/geofence.cpp
new file mode 100644
index 000000000..199ccb41b
--- /dev/null
+++ b/src/modules/navigator/geofence.cpp
@@ -0,0 +1,263 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *   Author: @author Jean Cyr <jean.m.cyr@gmail.com>
+ *           @author Thomas Gubler <thomasgubler@gmail.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+/**
+ * @file geofence.cpp
+ * Provides functions for handling the geofence
+ */
+#include "geofence.h"
+
+#include <uORB/topics/vehicle_global_position.h>
+#include <string.h>
+#include <dataman/dataman.h>
+#include <systemlib/err.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <ctype.h>
+#include <nuttx/config.h>
+#include <unistd.h>
+
+
+/* Oddly, ERROR is not defined for C++ */
+#ifdef ERROR
+# undef ERROR
+#endif
+static const int ERROR = -1;
+
+Geofence::Geofence() : _fence_pub(-1),
+		_altitude_min(0),
+		_altitude_max(0)
+{
+	memset(&_fence, 0, sizeof(_fence));
+}
+
+Geofence::~Geofence()
+{
+
+}
+
+
+bool Geofence::inside(const struct vehicle_global_position_s *vehicle)
+{
+
+	/* Adaptation of algorithm originally presented as
+	 * PNPOLY - Point Inclusion in Polygon Test
+	 * W. Randolph Franklin (WRF) */
+
+	unsigned int i, j, vertices = _fence.count;
+	bool c = false;
+	double lat = vehicle->lat / 1e7d;
+	double lon = vehicle->lon / 1e7d;
+
+	// skip vertex 0 (return point)
+	for (i = 0, j = vertices - 1; i < vertices; j = i++)
+		if (((_fence.vertices[i].lon) >= lon != (_fence.vertices[j].lon >= lon)) &&
+		    (lat <= (_fence.vertices[j].lat - _fence.vertices[i].lat) * (lon - _fence.vertices[i].lon) /
+		     (_fence.vertices[j].lon - _fence.vertices[i].lon) + _fence.vertices[i].lat))
+			c = !c;
+	return c;
+}
+
+bool
+Geofence::loadFromDm(unsigned vertices)
+{
+	struct fence_s temp_fence;
+
+	unsigned i;
+	for (i = 0; i < vertices; i++) {
+		if (dm_read(DM_KEY_FENCE_POINTS, i, temp_fence.vertices + i, sizeof(struct fence_vertex_s)) != sizeof(struct fence_vertex_s)) {
+			break;
+		}
+	}
+
+	temp_fence.count = i;
+
+	if (valid())
+		memcpy(&_fence, &temp_fence, sizeof(_fence));
+	else
+		warnx("Invalid fence file, ignored!");
+
+	return _fence.count != 0;
+}
+
+bool
+Geofence::valid()
+{
+	// NULL fence is valid
+	if (_fence.count == 0) {
+		return true;
+	}
+
+	// Otherwise
+	if ((_fence.count < 4) || (_fence.count > GEOFENCE_MAX_VERTICES)) {
+		warnx("Fence must have at least 3 sides and not more than %d", GEOFENCE_MAX_VERTICES - 1);
+		return false;
+	}
+
+	return true;
+}
+
+void
+Geofence::addPoint(int argc, char *argv[])
+{
+	int ix, last;
+	double lon, lat;
+	struct fence_vertex_s vertex;
+	char *end;
+
+	if ((argc == 1) && (strcmp("-clear", argv[0]) == 0)) {
+		dm_clear(DM_KEY_FENCE_POINTS);
+		publishFence(0);
+		return;
+	}
+
+	if (argc < 3)
+		errx(1, "Specify: -clear | sequence latitude longitude [-publish]");
+
+	ix = atoi(argv[0]);
+	if (ix >= DM_KEY_FENCE_POINTS_MAX)
+		errx(1, "Sequence must be less than %d", DM_KEY_FENCE_POINTS_MAX);
+
+	lat = strtod(argv[1], &end);
+	lon = strtod(argv[2], &end);
+
+	last = 0;
+	if ((argc > 3) && (strcmp(argv[3], "-publish") == 0))
+		last = 1;
+
+	vertex.lat = (float)lat;
+	vertex.lon = (float)lon;
+
+	if (dm_write(DM_KEY_FENCE_POINTS, ix, DM_PERSIST_POWER_ON_RESET, &vertex, sizeof(vertex)) == sizeof(vertex)) {
+		if (last)
+			publishFence((unsigned)ix + 1);
+		return;
+	}
+
+	errx(1, "can't store fence point");
+}
+
+void
+Geofence::publishFence(unsigned vertices)
+{
+	if (_fence_pub == -1)
+		_fence_pub = orb_advertise(ORB_ID(fence), &vertices);
+	else
+		orb_publish(ORB_ID(fence), _fence_pub, &vertices);
+}
+
+int
+Geofence::loadFromFile(const char *filename)
+{
+	FILE		*fp;
+	char		line[120];
+	int			pointCounter = 0;
+	bool		gotVertical = false;
+	const char commentChar = '#';
+
+	/* Make sure no data is left in the datamanager */
+	clearDm();
+
+	/* open the mixer definition file */
+	fp = fopen(GEOFENCE_FILENAME, "r");
+	if (fp == NULL) {
+		return ERROR;
+	}
+
+	/* create geofence points from valid lines and store in DM */
+	for (;;) {
+
+		/* get a line, bail on error/EOF */
+		if (fgets(line, sizeof(line), fp) == NULL)
+			break;
+
+		/* Trim leading whitespace */
+		size_t textStart = 0;
+		while((textStart < sizeof(line)/sizeof(char)) && isspace(line[textStart])) textStart++;
+
+		/* if the line starts with #, skip */
+		if (line[textStart] == commentChar)
+			continue;
+
+		if (gotVertical) {
+			/* Parse the line as a geofence point */
+			struct fence_vertex_s vertex;
+
+			if (sscanf(line, "%f %f", &(vertex.lat), &(vertex.lon)) != 2)
+				return ERROR;
+
+
+			if (dm_write(DM_KEY_FENCE_POINTS, pointCounter, DM_PERSIST_POWER_ON_RESET, &vertex, sizeof(vertex)) != sizeof(vertex))
+				return ERROR;
+
+			warnx("Geofence: point: %d, lat %.5f: lon: %.5f", pointCounter,  (double)vertex.lat, (double)vertex.lon);
+
+			pointCounter++;
+		} else {
+			/* Parse the line as the vertical limits */
+			if (sscanf(line, "%f %f", &_altitude_min, &_altitude_max) != 2)
+				return ERROR;
+
+
+			warnx("Geofence: alt min: %.4f, alt_max: %.4f", (double)_altitude_min, (double)_altitude_max);
+			gotVertical = true;
+		}
+
+
+	}
+
+	fclose(fp);
+
+	/* Re-Load imported geofence from DM */
+	if(gotVertical && pointCounter > 0)
+	{
+		bool fence_valid = loadFromDm(GEOFENCE_MAX_VERTICES);
+		if (fence_valid) {
+			warnx("Geofence: imported and loaded successfully");
+			return OK;
+		} else {
+			warnx("Geofence: datamanager read error");
+			return ERROR;
+		}
+	} else {
+		warnx("Geofence: import error");
+	}
+
+	return ERROR;
+}
+
+int Geofence::clearDm()
+{
+	dm_clear(DM_KEY_FENCE_POINTS);
+}
diff --git a/src/modules/navigator/geofence.h b/src/modules/navigator/geofence.h
new file mode 100644
index 000000000..8a1d06e71
--- /dev/null
+++ b/src/modules/navigator/geofence.h
@@ -0,0 +1,89 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *   Author: @author Jean Cyr <jean.m.cyr@gmail.com>
+ *           @author Thomas Gubler <thomasgubler@gmail.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+/**
+ * @file geofence.h
+ * Provides functions for handling the geofence
+ */
+
+#ifndef GEOFENCE_H_
+#define GEOFENCE_H_
+
+#include <uORB/topics/fence.h>
+
+#define GEOFENCE_FILENAME "/fs/microsd/etc/geofence.txt"
+
+class Geofence {
+private:
+	struct fence_s	_fence;
+	orb_advert_t	_fence_pub;			/**< publish fence topic */
+
+	float			_altitude_min;
+	float			_altitude_max;
+public:
+	Geofence();
+	~Geofence();
+
+	/**
+	 * Return whether craft is inside geofence.
+	 *
+	 * Calculate whether point is inside arbitrary polygon
+	 * @param craft pointer craft coordinates
+	 * @param fence pointer to array of coordinates, one per vertex. First and last vertex are assumed connected
+	 * @return true: craft is inside fence, false:craft is outside fence
+	 */
+	bool inside(const struct vehicle_global_position_s *craft);
+
+
+	/**
+	 * Load fence parameters.
+	 */
+	bool loadFromDm(unsigned vertices);
+
+	int clearDm();
+
+	bool valid();
+
+	/**
+	 * Specify fence vertex position.
+	 */
+	void addPoint(int argc, char *argv[]);
+
+	void publishFence(unsigned vertices);
+
+	int loadFromFile(const char *filename);
+};
+
+
+#endif /* GEOFENCE_H_ */
diff --git a/src/modules/navigator/mission_feasibility_checker.cpp b/src/modules/navigator/mission_feasibility_checker.cpp
index 25b2636bb..aba2dffff 100644
--- a/src/modules/navigator/mission_feasibility_checker.cpp
+++ b/src/modules/navigator/mission_feasibility_checker.cpp
@@ -48,6 +48,7 @@
 #include <stdio.h>
 #include <fcntl.h>
 #include <errno.h>
+#include <uORB/topics/fence.h>
 
 /* oddly, ERROR is not defined for c++ */
 #ifdef ERROR
@@ -61,7 +62,7 @@ MissionFeasibilityChecker::MissionFeasibilityChecker() : _mavlink_fd(-1), _capab
 }
 
 
-bool MissionFeasibilityChecker::checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nItems)
+bool MissionFeasibilityChecker::checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, Geofence &geofence)
 {
 	/* Init if not done yet */
 	init();
@@ -74,39 +75,39 @@ bool MissionFeasibilityChecker::checkMissionFeasible(bool isRotarywing, dm_item_
 
 
 	if (isRotarywing)
-		return checkMissionFeasibleRotarywing(dm_current, nItems);
+		return checkMissionFeasibleRotarywing(dm_current, nMissionItems, geofence);
 	else
-		return checkMissionFeasibleFixedwing(dm_current, nItems);
+		return checkMissionFeasibleFixedwing(dm_current, nMissionItems, geofence);
 }
 
-bool MissionFeasibilityChecker::checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nItems)
+bool MissionFeasibilityChecker::checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence)
 {
 
-	return checkGeofence(dm_current, nItems);
+	return checkGeofence(dm_current, nMissionItems, geofence);
 }
 
-bool MissionFeasibilityChecker::checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nItems)
+bool MissionFeasibilityChecker::checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence)
 {
 	/* Update fixed wing navigation capabilites */
 	updateNavigationCapabilities();
 //	warnx("_nav_caps.landing_slope_angle_rad %.4f, _nav_caps.landing_horizontal_slope_displacement %.4f", _nav_caps.landing_slope_angle_rad, _nav_caps.landing_horizontal_slope_displacement);
 
-	return (checkFixedWingLanding(dm_current, nItems) && checkGeofence(dm_current, nItems));
+	return (checkFixedWingLanding(dm_current, nMissionItems) && checkGeofence(dm_current, nMissionItems, geofence));
 }
 
-bool MissionFeasibilityChecker::checkGeofence(dm_item_t dm_current, size_t nItems)
+bool MissionFeasibilityChecker::checkGeofence(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence)
 {
 	//xxx: check geofence
 	return true;
 }
 
-bool MissionFeasibilityChecker::checkFixedWingLanding(dm_item_t dm_current, size_t nItems)
+bool MissionFeasibilityChecker::checkFixedWingLanding(dm_item_t dm_current, size_t nMissionItems)
 {
 	/* Go through all mission items and search for a landing waypoint
 	 * if landing waypoint is found: the previous waypoint is checked to be at a feasible distance and altitude given the landing slope */
 
 
-	for (size_t i = 0; i < nItems; i++) {
+	for (size_t i = 0; i < nMissionItems; i++) {
 		static struct mission_item_s missionitem;
 		const ssize_t len = sizeof(struct mission_item_s);
 		if (dm_read(dm_current, i, &missionitem, len) != len) {
diff --git a/src/modules/navigator/mission_feasibility_checker.h b/src/modules/navigator/mission_feasibility_checker.h
index 7d1cc2f8a..7a0b2a296 100644
--- a/src/modules/navigator/mission_feasibility_checker.h
+++ b/src/modules/navigator/mission_feasibility_checker.h
@@ -43,6 +43,7 @@
 #include <uORB/topics/mission.h>
 #include <uORB/topics/navigation_capabilities.h>
 #include <dataman/dataman.h>
+#include "geofence.h"
 
 
 class MissionFeasibilityChecker
@@ -57,15 +58,15 @@ private:
 	void init();
 
 	/* Checks for all airframes */
-	bool checkGeofence(dm_item_t dm_current, size_t nItems);
+	bool checkGeofence(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence);
 
 	/* Checks specific to fixedwing airframes */
-	bool checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nItems);
-	bool checkFixedWingLanding(dm_item_t dm_current, size_t nItems);
+	bool checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence);
+	bool checkFixedWingLanding(dm_item_t dm_current, size_t nMissionItems);
 	void updateNavigationCapabilities();
 
 	/* Checks specific to rotarywing airframes */
-	bool checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nItems);
+	bool checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence);
 public:
 
 	MissionFeasibilityChecker();
@@ -74,7 +75,7 @@ public:
 	/*
 	 * Returns true if mission is feasible and false otherwise
 	 */
-	bool checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nItems);
+	bool checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, Geofence &geofence);
 
 };
 
diff --git a/src/modules/navigator/module.mk b/src/modules/navigator/module.mk
index 6be4e87a0..b7900e84e 100644
--- a/src/modules/navigator/module.mk
+++ b/src/modules/navigator/module.mk
@@ -40,6 +40,7 @@ MODULE_COMMAND	= navigator
 SRCS		= navigator_main.cpp \
 		  navigator_params.c \
 		  navigator_mission.cpp \
-		  mission_feasibility_checker.cpp
+		  mission_feasibility_checker.cpp \
+		  geofence.cpp
 
 INCLUDE_DIRS	 += $(MAVLINK_SRC)/include/mavlink
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 61de91dce..e52ef16fa 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -75,9 +75,12 @@
 #include <mathlib/mathlib.h>
 #include <dataman/dataman.h>
 #include <mavlink/mavlink_log.h>
+#include <sys/types.h>
+#include <sys/stat.h>
 
 #include "navigator_mission.h"
 #include "mission_feasibility_checker.h"
+#include "geofence.h"
 
 
 /* oddly, ERROR is not defined for c++ */
@@ -119,14 +122,14 @@ public:
 	void		status();
 
 	/**
-	 * Load fence parameters.
+	 * Add point to geofence
 	 */
-	bool		load_fence(unsigned vertices);
+	void add_fence_point(int argc, char *argv[]);
 
 	/**
-	 * Specify fence vertex position.
+	 * Load fence from file
 	 */
-	void		fence_point(int argc, char *argv[]);
+	void load_fence_from_file(const char *filename);
 
 private:
 
@@ -144,7 +147,6 @@ private:
 	int		_capabilities_sub;		/**< notification of vehicle capabilities updates */
 
 	orb_advert_t	_triplet_pub;			/**< publish position setpoint triplet */
-	orb_advert_t	_fence_pub;			/**< publish fence topic */ 
 	orb_advert_t	_mission_result_pub;		/**< publish mission result topic */
 	orb_advert_t	_control_mode_pub;			/**< publish vehicle control mode topic */
 
@@ -157,7 +159,7 @@ private:
 
 	perf_counter_t	_loop_perf;			/**< loop performance counter */
 	
-	struct fence_s 					_fence;			/**< storage for fence vertices */
+	Geofence					_geofence;
 	bool						_fence_valid;		/**< flag if fence is valid */
         bool						_inside_fence;		/**< vehicle is inside fence */
 
@@ -268,12 +270,8 @@ private:
 	 */
 	void		task_main() __attribute__((noreturn));
 
-	void		publish_fence(unsigned vertices);
-
 	void		publish_safepoints(unsigned points);
 
-	bool		fence_valid(const struct fence_s &fence);
-
 	/**
 	 * Functions that are triggered when a new state is entered.
 	 */
@@ -378,7 +376,6 @@ Navigator::Navigator() :
 
 /* publications */
 	_triplet_pub(-1),
-	_fence_pub(-1),
 	_mission_result_pub(-1),
 	_control_mode_pub(-1),
 
@@ -398,8 +395,6 @@ Navigator::Navigator() :
 	_need_takeoff(true),
 	_do_takeoff(false)
 {
-	memset(&_fence, 0, sizeof(_fence));
-
 	_parameter_handles.min_altitude = param_find("NAV_MIN_ALT");
 	_parameter_handles.acceptance_radius = param_find("NAV_ACCEPT_RAD");
 	_parameter_handles.loiter_radius = param_find("NAV_LOITER_RAD");
@@ -499,7 +494,7 @@ Navigator::offboard_mission_update(bool isrotaryWing)
 		} else {
 			dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1;
 		}
-		missionFeasiblityChecker.checkMissionFeasible(isrotaryWing, dm_current, (size_t)offboard_mission.count);
+		missionFeasiblityChecker.checkMissionFeasible(isrotaryWing, dm_current, (size_t)offboard_mission.count, _geofence);
 
 		_mission.set_offboard_dataman_id(offboard_mission.dataman_id);
 		_mission.set_current_offboard_mission_index(offboard_mission.current_index);
@@ -552,7 +547,22 @@ Navigator::task_main()
 
 	mavlink_log_info(_mavlink_fd, "[navigator] started");
 
-	_fence_valid = load_fence(GEOFENCE_MAX_VERTICES);
+	_fence_valid = _geofence.loadFromDm(GEOFENCE_MAX_VERTICES);
+
+	/* Try to load the geofence:
+	 * if /fs/microsd/etc/geofence.txt load from this file
+	 * else clear geofence data in datamanager
+	 */
+	struct stat buffer;
+	if( stat (GEOFENCE_FILENAME, &buffer) == 0 ) {
+		warnx("Try to load geofence.txt");
+		_geofence.loadFromFile(GEOFENCE_FILENAME);
+	} else {
+		if (_geofence.clearDm() > 0 )
+			warnx("Geofence cleared");
+		else
+			warnx("Could not clear geofence");
+	}
 
 	/*
 	 * do subscriptions
@@ -814,9 +824,9 @@ Navigator::status()
 	}
 	if (_fence_valid) {
 		warnx("Geofence is valid");
-		warnx("Vertex longitude latitude");
-		for (unsigned i = 0; i < _fence.count; i++)
-		warnx("%6u %9.5f %8.5f", i, (double)_fence.vertices[i].lon, (double)_fence.vertices[i].lat);
+//		warnx("Vertex longitude latitude");
+//		for (unsigned i = 0; i < _fence.count; i++)
+//		warnx("%6u %9.5f %8.5f", i, (double)_fence.vertices[i].lon, (double)_fence.vertices[i].lat);
 	} else {
 		warnx("Geofence not set");
 	}
@@ -840,96 +850,6 @@ Navigator::status()
 	}
 }
 
-void
-Navigator::publish_fence(unsigned vertices)
-{
-	if (_fence_pub == -1)
-		_fence_pub = orb_advertise(ORB_ID(fence), &vertices);
-	else
-		orb_publish(ORB_ID(fence), _fence_pub, &vertices);
-}
-
-bool
-Navigator::fence_valid(const struct fence_s &fence)
-{
-	// NULL fence is valid
-	if (fence.count == 0) {
-		return true;
-	}
-
-	// Otherwise
-	if ((fence.count < 4) || (fence.count > GEOFENCE_MAX_VERTICES)) {
-		warnx("Fence must have at least 3 sides and not more than %d", GEOFENCE_MAX_VERTICES - 1);
-		return false;
-	}
-
-	return true;
-}
-
-bool
-Navigator::load_fence(unsigned vertices)
-{
-	struct fence_s temp_fence;
-
-	unsigned i;
-	for (i = 0; i < vertices; i++) {
-		if (dm_read(DM_KEY_FENCE_POINTS, i, temp_fence.vertices + i, sizeof(struct fence_vertex_s)) != sizeof(struct fence_vertex_s)) {
-			break;
-		}
-	}
-
-	temp_fence.count = i;
-
-	if (fence_valid(temp_fence))
-		memcpy(&_fence, &temp_fence, sizeof(_fence));
-	else
-		warnx("Invalid fence file, ignored!");
-
-	return _fence.count != 0;
-}
-
-void
-Navigator::fence_point(int argc, char *argv[])
-{
-	int ix, last;
-	double lon, lat;
-	struct fence_vertex_s vertex;
-	char *end;
-
-	if ((argc == 1) && (strcmp("-clear", argv[0]) == 0)) {
-		dm_clear(DM_KEY_FENCE_POINTS);
-		publish_fence(0);
-		return;
-	}
-
-	if (argc < 3)
-		errx(1, "Specify: -clear | sequence latitude longitude [-publish]");
-
-	ix = atoi(argv[0]);
-	if (ix >= DM_KEY_FENCE_POINTS_MAX)
-		errx(1, "Sequence must be less than %d", DM_KEY_FENCE_POINTS_MAX);
-
-	lat = strtod(argv[1], &end);
-	lon = strtod(argv[2], &end);
-
-	last = 0;
-	if ((argc > 3) && (strcmp(argv[3], "-publish") == 0))
-		last = 1;
-
-	vertex.lat = (float)lat;
-	vertex.lon = (float)lon;
-
-	if (dm_write(DM_KEY_FENCE_POINTS, ix, DM_PERSIST_POWER_ON_RESET, &vertex, sizeof(vertex)) == sizeof(vertex)) {
-		if (last)
-			publish_fence((unsigned)ix + 1);
-		return;
-	}
-
-	errx(1, "can't store fence point");
-}
-
-
-
 StateTable::Tran const Navigator::myTable[NAV_STATE_MAX][MAX_EVENT] = {
 	{	
 							/* STATE_NONE */
@@ -1582,6 +1502,16 @@ bool Navigator::cmp_mission_item_equivalent(const struct mission_item_s a, const
 	}
 }
 
+void Navigator::add_fence_point(int argc, char *argv[])
+{
+	_geofence.addPoint(argc, argv);
+}
+
+void Navigator::load_fence_from_file(const char *filename)
+{
+	_geofence.loadFromFile(filename);
+}
+
 
 static void usage()
 {
@@ -1626,7 +1556,9 @@ int navigator_main(int argc, char *argv[])
 		navigator::g_navigator->status();
 
 	} else if (!strcmp(argv[1], "fence")) {
-		navigator::g_navigator->fence_point(argc - 2, argv + 2);
+		navigator::g_navigator->add_fence_point(argc - 2, argv + 2);
+	} else if (!strcmp(argv[1], "fencefile")) {
+			navigator::g_navigator->load_fence_from_file(GEOFENCE_FILENAME);
 
 	} else {
 		usage();