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Diffstat (limited to 'src/modules/commander/commander.cpp')
| -rw-r--r-- | src/modules/commander/commander.cpp | 8 |
1 files changed, 8 insertions, 0 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 04450a44f..522c6e886 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1244,6 +1244,14 @@ int commander_thread_main(int argc, char *argv[]) if (updated) { orb_copy(ORB_ID(position_setpoint_triplet), pos_sp_triplet_sub, &pos_sp_triplet); + + /* Check for geofence violation */ + if (pos_sp_triplet.geofence_violated) { + //XXX: make this configurable to select different actions (e.g. navigation modes) + /* this will only trigger if geofence is activated via param and a geofence file is present */ + armed.force_failsafe = true; + status_changed = true; + } // no reset is done here on purpose, on geofence violation we want to stay in flighttermination } if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) { |