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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-07-19 19:25:53 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-07-19 19:25:53 +0200 |
| commit | 7baa337d9bcf7077a5e5080e951899cb595f6ff6 (patch) | |
| tree | e301ebd9a1279f64ce4df2571aff45db99d12b3d /src/modules/navigator | |
| parent | fd5065535435f9f3fa3c32b620db471f905072c2 (diff) | |
| download | px4-firmware-7baa337d9bcf7077a5e5080e951899cb595f6ff6.tar.gz px4-firmware-7baa337d9bcf7077a5e5080e951899cb595f6ff6.tar.bz2 px4-firmware-7baa337d9bcf7077a5e5080e951899cb595f6ff6.zip | |
flight termination on geofence violation
Diffstat (limited to 'src/modules/navigator')
| -rw-r--r-- | src/modules/navigator/navigator_main.cpp | 10 |
1 files changed, 10 insertions, 0 deletions
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 331a9a728..ba46bd568 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -335,6 +335,11 @@ Navigator::task_main() /* Check geofence violation */ if (!_geofence.inside(&_global_pos)) { + /* inform other apps via the sp triplet */ + _pos_sp_triplet.geofence_violated = true; + if (_pos_sp_triplet.geofence_violated != true) { + _pos_sp_triplet_updated = true; + } /* Issue a warning about the geofence violation once */ if (!_geofence_violation_warning_sent) { @@ -342,6 +347,11 @@ Navigator::task_main() _geofence_violation_warning_sent = true; } } else { + /* inform other apps via the sp triplet */ + _pos_sp_triplet.geofence_violated = false; + if (_pos_sp_triplet.geofence_violated != false) { + _pos_sp_triplet_updated = true; + } /* Reset the _geofence_violation_warning_sent field */ _geofence_violation_warning_sent = false; } |