diff options
Diffstat (limited to 'src/modules/navigator/geofence.cpp')
| -rw-r--r-- | src/modules/navigator/geofence.cpp | 14 |
1 files changed, 8 insertions, 6 deletions
diff --git a/src/modules/navigator/geofence.cpp b/src/modules/navigator/geofence.cpp index f452a85f7..266215308 100644 --- a/src/modules/navigator/geofence.cpp +++ b/src/modules/navigator/geofence.cpp @@ -1,8 +1,6 @@ /**************************************************************************** * * Copyright (c) 2013 PX4 Development Team. All rights reserved. - * Author: @author Jean Cyr <jean.m.cyr@gmail.com> - * @author Thomas Gubler <thomasgubler@gmail.com> * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -35,6 +33,9 @@ /** * @file geofence.cpp * Provides functions for handling the geofence + * + * @author Jean Cyr <jean.m.cyr@gmail.com> + * @author Thomas Gubler <thomasgubler@gmail.com> */ #include "geofence.h" @@ -77,7 +78,7 @@ bool Geofence::inside(const struct vehicle_global_position_s *vehicle) { double lat = vehicle->lat / 1e7d; double lon = vehicle->lon / 1e7d; - float alt = vehicle->alt; + //float alt = vehicle->alt; return inside(lat, lon, vehicle->alt); } @@ -115,9 +116,9 @@ bool Geofence::inside(double lat, double lon, float altitude) } // skip vertex 0 (return point) - if (((temp_vertex_i.lon) >= lon != (temp_vertex_j.lon >= lon)) && - (lat <= (temp_vertex_j.lat - temp_vertex_i.lat) * (lon - temp_vertex_i.lon) / - (temp_vertex_j.lon - temp_vertex_i.lon) + temp_vertex_i.lat)) { + if (((double)temp_vertex_i.lon >= lon) != ((double)temp_vertex_j.lon >= lon) && + (lat <= (double)(temp_vertex_j.lat - temp_vertex_i.lat) * (lon - (double)temp_vertex_i.lon) / + (double)(temp_vertex_j.lon - temp_vertex_i.lon) + (double)temp_vertex_i.lat)) { c = !c; } @@ -293,4 +294,5 @@ Geofence::loadFromFile(const char *filename) int Geofence::clearDm() { dm_clear(DM_KEY_FENCE_POINTS); + return OK; } |