diff options
Diffstat (limited to 'src/modules/navigator/navigator_main.cpp')
| -rw-r--r-- | src/modules/navigator/navigator_main.cpp | 24 |
1 files changed, 20 insertions, 4 deletions
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index df620e5e7..0ab85d56e 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -110,6 +110,7 @@ Navigator::Navigator() : _param_update_sub(-1), _pos_sp_triplet_pub(-1), _mission_result_pub(-1), + _geofence_result_pub(-1), _att_sp_pub(-1), _vstatus{}, _control_mode{}, @@ -398,8 +399,8 @@ Navigator::task_main() have_geofence_position_data = false; if (!inside) { /* inform other apps via the mission result */ - _mission_result.geofence_violated = true; - publish_mission_result(); + _geofence_result.geofence_violated = true; + publish_geofence_result(); /* Issue a warning about the geofence violation once */ if (!_geofence_violation_warning_sent) { @@ -408,8 +409,8 @@ Navigator::task_main() } } else { /* inform other apps via the mission result */ - _mission_result.geofence_violated = false; - publish_mission_result(); + _geofence_result.geofence_violated = false; + publish_geofence_result(); /* Reset the _geofence_violation_warning_sent field */ _geofence_violation_warning_sent = false; } @@ -642,6 +643,21 @@ Navigator::publish_mission_result() } void +Navigator::publish_geofence_result() +{ + + /* lazily publish the geofence result only once available */ + if (_geofence_result_pub > 0) { + /* publish mission result */ + orb_publish(ORB_ID(geofence_result), _geofence_result_pub, &_geofence_result); + + } else { + /* advertise and publish */ + _geofence_result_pub = orb_advertise(ORB_ID(geofence_result), &_geofence_result); + } +} + +void Navigator::publish_att_sp() { /* lazily publish the attitude sp only once available */ |