ardupilot/libraries/AP_Scripting/examples/FenceBreach.lua

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2023-11-02 14:10:30 -03:00
-- Example of checking and reporting on geo-fence breach
local breach_lookup = {
[1] = "Maximim altitude",
[2] = "Circle",
[4] = "Polygon",
[8] = "Minimum altitude"
}
-- Lookup brach type bitmask and return the names of any breached fences
local function get_breach_names(breaches)
local msg = ""
for bitmaks, name in pairs(breach_lookup) do
if (breaches & bitmaks) ~= 0 then
-- And + delimiter between types if more than one
if (string.len(msg) > 0) then
msg = msg .. " + "
end
msg = msg .. name
end
end
return msg
end
function update()
local breaches = fence:get_breaches()
if breaches ~= 0 then
-- Time passed since fence breach
local breach_time = millis() - fence:get_breach_time()
gcs:send_text(0, string.format("Breached: %s fence, outside for %0.2f seconds", get_breach_names(breaches), breach_time:tofloat() * 0.001))
end
return update, 1000
end
return update()