diff options
| -rw-r--r-- | src/modules/navigator/geofence.cpp | 15 | ||||
| -rw-r--r-- | src/modules/navigator/geofence.h | 6 | ||||
| -rw-r--r-- | src/modules/navigator/geofence_params.c | 55 | ||||
| -rw-r--r-- | src/modules/navigator/module.mk | 3 | ||||
| -rw-r--r-- | src/modules/navigator/navigator_main.cpp | 2 |
5 files changed, 78 insertions, 3 deletions
diff --git a/src/modules/navigator/geofence.cpp b/src/modules/navigator/geofence.cpp index a49a71e1b..9bbaf167a 100644 --- a/src/modules/navigator/geofence.cpp +++ b/src/modules/navigator/geofence.cpp @@ -58,9 +58,11 @@ static const int ERROR = -1; Geofence::Geofence() : _fence_pub(-1), _altitude_min(0), _altitude_max(0), - _verticesCount(0) + _verticesCount(0), + param_geofence_on(NULL, "GF_ON", false) { - + /* Load initial params */ + updateParams(); } Geofence::~Geofence() @@ -80,6 +82,10 @@ bool Geofence::inside(const struct vehicle_global_position_s *vehicle) bool Geofence::inside(double lat, double lon, float altitude) { + /* Return true if geofence is disabled */ + if (param_geofence_on.get() != 1) + return true; + if (valid()) { if (!isEmpty()) { @@ -286,3 +292,8 @@ int Geofence::clearDm() { dm_clear(DM_KEY_FENCE_POINTS); } + +void Geofence::updateParams() +{ + param_geofence_on.update(); +} diff --git a/src/modules/navigator/geofence.h b/src/modules/navigator/geofence.h index 781e7a263..5b56ebc7a 100644 --- a/src/modules/navigator/geofence.h +++ b/src/modules/navigator/geofence.h @@ -41,6 +41,7 @@ #define GEOFENCE_H_ #include <uORB/topics/fence.h> +#include <controllib/block/BlockParam.hpp> #define GEOFENCE_FILENAME "/fs/microsd/etc/geofence.txt" @@ -52,6 +53,9 @@ private: float _altitude_max; unsigned _verticesCount; + + /* Params */ + control::BlockParamInt param_geofence_on; public: Geofence(); ~Geofence(); @@ -81,6 +85,8 @@ public: int loadFromFile(const char *filename); bool isEmpty() {return _verticesCount == 0;} + + void updateParams(); }; diff --git a/src/modules/navigator/geofence_params.c b/src/modules/navigator/geofence_params.c new file mode 100644 index 000000000..20dd1fe2f --- /dev/null +++ b/src/modules/navigator/geofence_params.c @@ -0,0 +1,55 @@ +/**************************************************************************** + * + * Copyright (c) 2013 PX4 Development Team. All rights reserved. + * Author: Lorenz Meier <lm@inf.ethz.ch> + * + * 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_params.c + * + * Parameters for geofence + * + * @author Thomas Gubler <thomasgubler@gmail.com> + */ + +#include <nuttx/config.h> + +#include <systemlib/param/param.h> + +/* + * geofence parameters, accessible via MAVLink + * + */ + +// @DisplayName Switch to enable geofence +// @Description if set to 1 geofence is enabled, defaults to 1 because geofence is only enabled when the geofence.txt file is present +// @Range 0 or 1 +PARAM_DEFINE_INT32(GF_ON, 1); diff --git a/src/modules/navigator/module.mk b/src/modules/navigator/module.mk index b7900e84e..55f8a4caa 100644 --- a/src/modules/navigator/module.mk +++ b/src/modules/navigator/module.mk @@ -41,6 +41,7 @@ SRCS = navigator_main.cpp \ navigator_params.c \ navigator_mission.cpp \ mission_feasibility_checker.cpp \ - geofence.cpp + geofence.cpp \ + geofence_params.c INCLUDE_DIRS += $(MAVLINK_SRC)/include/mavlink diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 8b5cc4576..b6059a01e 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -458,6 +458,8 @@ Navigator::parameters_update() param_get(_parameter_handles.rtl_alt, &(_parameters.rtl_alt)); _mission.set_onboard_mission_allowed((bool)_parameter_handles.onboard_mission_enabled); + + _geofence.updateParams(); } void |