From ec60a254d279e826c1d3d8097dcbe4bfa89d1e89 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sat, 4 Jan 2014 14:46:17 +0100 Subject: navigator: add pre mission geofence check --- src/modules/navigator/geofence.cpp | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) (limited to 'src/modules/navigator/geofence.cpp') diff --git a/src/modules/navigator/geofence.cpp b/src/modules/navigator/geofence.cpp index 199ccb41b..666d9076e 100644 --- a/src/modules/navigator/geofence.cpp +++ b/src/modules/navigator/geofence.cpp @@ -70,15 +70,20 @@ Geofence::~Geofence() bool Geofence::inside(const struct vehicle_global_position_s *vehicle) { + double lat = vehicle->lat / 1e7d; + double lon = vehicle->lon / 1e7d; + + return inside(lat, lon); +} +bool Geofence::inside(double lat, double lon) +{ /* Adaptation of algorithm originally presented as * PNPOLY - Point Inclusion in Polygon Test * W. Randolph Franklin (WRF) */ unsigned int i, j, vertices = _fence.count; bool c = false; - double lat = vehicle->lat / 1e7d; - double lon = vehicle->lon / 1e7d; // skip vertex 0 (return point) for (i = 0, j = vertices - 1; i < vertices; j = i++) -- cgit v1.2.3