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/mission_feasibility_checker.cpp | 19 ++++++++++++++++++- 1 file changed, 18 insertions(+), 1 deletion(-) (limited to 'src/modules/navigator/mission_feasibility_checker.cpp') diff --git a/src/modules/navigator/mission_feasibility_checker.cpp b/src/modules/navigator/mission_feasibility_checker.cpp index aba2dffff..798e95faa 100644 --- a/src/modules/navigator/mission_feasibility_checker.cpp +++ b/src/modules/navigator/mission_feasibility_checker.cpp @@ -97,7 +97,24 @@ bool MissionFeasibilityChecker::checkMissionFeasibleFixedwing(dm_item_t dm_curre bool MissionFeasibilityChecker::checkGeofence(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence) { - //xxx: check geofence + /* Check if all mission items are inside the geofence (if we have a valid geofence) */ + if (geofence.valid()) { + for (size_t i = 0; i < nMissionItems; i++) { + static struct mission_item_s missionitem; + const ssize_t len = sizeof(struct mission_item_s); + + if (dm_read(dm_current, i, &missionitem, len) != len) { + /* not supposed to happen unless the datamanager can't access the SD card, etc. */ + return false; + } + + if (!geofence.inside(missionitem.lat, missionitem.lon)) { + mavlink_log_info(_mavlink_fd, "#audio: Geofence violation waypoint %d", i); + return false; + } + } + } + return true; } -- cgit v1.2.3