diff options
Diffstat (limited to 'src/modules/navigator/geofence.cpp')
| -rw-r--r-- | src/modules/navigator/geofence.cpp | 23 |
1 files changed, 22 insertions, 1 deletions
diff --git a/src/modules/navigator/geofence.cpp b/src/modules/navigator/geofence.cpp index 7897c7ba0..4a02a0c3f 100644 --- a/src/modules/navigator/geofence.cpp +++ b/src/modules/navigator/geofence.cpp @@ -63,7 +63,8 @@ Geofence::Geofence() : _altitude_max(0), _verticesCount(0), _param_geofence_on(this, "ON"), - _param_altitude_mode(this, "ALTMODE") + _param_altitude_mode(this, "ALTMODE"), + _param_source(this, "SOURCE") { /* Load initial params */ updateParams(); @@ -85,6 +86,26 @@ bool Geofence::inside(const struct vehicle_global_position_s &global_position, f return inside(global_position.lat, global_position.lon, baro_altitude_amsl); } + +bool Geofence::inside(const struct vehicle_global_position_s &global_position, + const struct vehicle_gps_position_s &gps_position,float baro_altitude_amsl) { + if (getAltitudeMode() == Geofence::GF_ALT_MODE_WGS84) { + if (getSource() == Geofence::GF_SOURCE_GLOBALPOS) { + return inside(global_position); + } else { + return inside((double)gps_position.lat * 1.0e-7, (double)gps_position.lon * 1.0e-7, + (double)gps_position.alt * 1.0e-3); + } + } else { + if (getSource() == Geofence::GF_SOURCE_GLOBALPOS) { + return inside(global_position, baro_altitude_amsl); + } else { + return inside((double)gps_position.lat * 1.0e-7, (double)gps_position.lon * 1.0e-7, + baro_altitude_amsl); + } + } +} + bool Geofence::inside(double lat, double lon, float altitude) { /* Return true if geofence is disabled */ |