From 7baa337d9bcf7077a5e5080e951899cb595f6ff6 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sat, 19 Jul 2014 19:25:53 +0200 Subject: flight termination on geofence violation --- src/modules/commander/commander.cpp | 8 ++++++++ src/modules/navigator/navigator_main.cpp | 10 ++++++++++ src/modules/uORB/topics/position_setpoint_triplet.h | 1 + 3 files changed, 19 insertions(+) (limited to 'src/modules') diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 04450a44f..522c6e886 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1244,6 +1244,14 @@ int commander_thread_main(int argc, char *argv[]) if (updated) { orb_copy(ORB_ID(position_setpoint_triplet), pos_sp_triplet_sub, &pos_sp_triplet); + + /* Check for geofence violation */ + if (pos_sp_triplet.geofence_violated) { + //XXX: make this configurable to select different actions (e.g. navigation modes) + /* this will only trigger if geofence is activated via param and a geofence file is present */ + armed.force_failsafe = true; + status_changed = true; + } // no reset is done here on purpose, on geofence violation we want to stay in flighttermination } if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) { diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 331a9a728..ba46bd568 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -335,6 +335,11 @@ Navigator::task_main() /* Check geofence violation */ if (!_geofence.inside(&_global_pos)) { + /* inform other apps via the sp triplet */ + _pos_sp_triplet.geofence_violated = true; + if (_pos_sp_triplet.geofence_violated != true) { + _pos_sp_triplet_updated = true; + } /* Issue a warning about the geofence violation once */ if (!_geofence_violation_warning_sent) { @@ -342,6 +347,11 @@ Navigator::task_main() _geofence_violation_warning_sent = true; } } else { + /* inform other apps via the sp triplet */ + _pos_sp_triplet.geofence_violated = false; + if (_pos_sp_triplet.geofence_violated != false) { + _pos_sp_triplet_updated = true; + } /* Reset the _geofence_violation_warning_sent field */ _geofence_violation_warning_sent = false; } diff --git a/src/modules/uORB/topics/position_setpoint_triplet.h b/src/modules/uORB/topics/position_setpoint_triplet.h index 4a1932180..4e8c6c53e 100644 --- a/src/modules/uORB/topics/position_setpoint_triplet.h +++ b/src/modules/uORB/topics/position_setpoint_triplet.h @@ -97,6 +97,7 @@ struct position_setpoint_triplet_s struct position_setpoint_s next; unsigned nav_state; /**< report the navigation state */ + bool geofence_violated; /**< true if the geofence is violated */ }; /** -- cgit v1.2.3