From a48264d5d44018412b9443b245e6974d3f54b20d Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sat, 4 Jan 2014 13:37:49 +0100 Subject: navigator: load geofence from textfile --- src/modules/navigator/geofence.h | 13 +++++++++++-- 1 file changed, 11 insertions(+), 2 deletions(-) (limited to 'src/modules/navigator/geofence.h') diff --git a/src/modules/navigator/geofence.h b/src/modules/navigator/geofence.h index 8f3a07b02..8a1d06e71 100644 --- a/src/modules/navigator/geofence.h +++ b/src/modules/navigator/geofence.h @@ -42,10 +42,15 @@ #include +#define GEOFENCE_FILENAME "/fs/microsd/etc/geofence.txt" + class Geofence { private: - struct fence_s _fence; + struct fence_s _fence; orb_advert_t _fence_pub; /**< publish fence topic */ + + float _altitude_min; + float _altitude_max; public: Geofence(); ~Geofence(); @@ -64,7 +69,9 @@ public: /** * Load fence parameters. */ - bool load(unsigned vertices); + bool loadFromDm(unsigned vertices); + + int clearDm(); bool valid(); @@ -74,6 +81,8 @@ public: void addPoint(int argc, char *argv[]); void publishFence(unsigned vertices); + + int loadFromFile(const char *filename); }; -- cgit v1.2.3