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flight termination on geofence violation

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Thomas Gubler
2014-07-19 19:25:53 +02:00
parent fd50655354
commit 7baa337d9b
3 changed files with 19 additions and 0 deletions
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8
src/modules/commander/commander.cpp
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@@ -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) {