diff options
| -rw-r--r-- | src/modules/navigator/geofence.cpp | 2 | ||||
| -rw-r--r-- | src/modules/navigator/geofence.h | 7 | ||||
| -rw-r--r-- | src/modules/navigator/mission_feasibility_checker.cpp | 2 |
3 files changed, 7 insertions, 4 deletions
diff --git a/src/modules/navigator/geofence.cpp b/src/modules/navigator/geofence.cpp index a3805dc0f..5504239c5 100644 --- a/src/modules/navigator/geofence.cpp +++ b/src/modules/navigator/geofence.cpp @@ -91,6 +91,8 @@ bool Geofence::inside(const struct vehicle_global_position_s &global_position, f bool Geofence::inside(const struct vehicle_global_position_s &global_position, const struct vehicle_gps_position_s &gps_position,float baro_altitude_amsl) { + updateParams(); + if (getAltitudeMode() == Geofence::GF_ALT_MODE_WGS84) { if (getSource() == Geofence::GF_SOURCE_GLOBALPOS) { return inside(global_position); diff --git a/src/modules/navigator/geofence.h b/src/modules/navigator/geofence.h index 65ebb0c3d..65e5b4042 100644 --- a/src/modules/navigator/geofence.h +++ b/src/modules/navigator/geofence.h @@ -75,11 +75,8 @@ public: * @param craft pointer craft coordinates * @return true: system is inside fence, false: system is outside fence */ - bool inside(const struct vehicle_global_position_s &global_position); - bool inside(const struct vehicle_global_position_s &global_position, float baro_altitude_amsl); bool inside(const struct vehicle_global_position_s &global_position, const struct vehicle_gps_position_s &gps_position,float baro_altitude_amsl); - bool inside(double lat, double lon, float altitude); bool inside_polygon(double lat, double lon, float altitude); int clearDm(); @@ -116,6 +113,10 @@ private: control::BlockParamInt _param_counter_threshold; uint8_t _outside_counter; + + bool inside(double lat, double lon, float altitude); + bool inside(const struct vehicle_global_position_s &global_position); + bool inside(const struct vehicle_global_position_s &global_position, float baro_altitude_amsl); }; diff --git a/src/modules/navigator/mission_feasibility_checker.cpp b/src/modules/navigator/mission_feasibility_checker.cpp index 606521f20..937e4fa5a 100644 --- a/src/modules/navigator/mission_feasibility_checker.cpp +++ b/src/modules/navigator/mission_feasibility_checker.cpp @@ -109,7 +109,7 @@ bool MissionFeasibilityChecker::checkGeofence(dm_item_t dm_current, size_t nMiss return false; } - if (!geofence.inside(missionitem.lat, missionitem.lon, missionitem.altitude)) { + if (!geofence.inside_polygon(missionitem.lat, missionitem.lon, missionitem.altitude)) { mavlink_log_info(_mavlink_fd, "#audio: Geofence violation waypoint %d", i); return false; } |