ardupilot/APMrover2/fence.cpp

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2017-08-16 07:02:56 -03:00
#include "Rover.h"
// fence_check - ask fence library to check for breaches and initiate the response
void Rover::fence_check()
{
uint8_t new_breaches; // the type of fence that has been breached
const uint8_t orig_breaches = g2.fence.get_breaches();
// check for a breach
new_breaches = g2.fence.check();
// return immediately if motors are not armed
if (!arming.is_armed()) {
return;
}
// if there is a new breach take action
if (new_breaches) {
// if the user wants some kind of response and motors are armed
if (g2.fence.get_action() != AC_FENCE_ACTION_REPORT_ONLY) {
// if we are within 100m of the fence, RTL
if (g2.fence.get_breach_distance(new_breaches) <= AC_FENCE_GIVE_UP_DISTANCE) {
if (!set_mode(mode_rtl, MODE_REASON_FENCE_BREACH)) {
set_mode(mode_hold, MODE_REASON_FENCE_BREACH);
}
} else {
// if more than 100m outside the fence just force to HOLD
set_mode(mode_hold, MODE_REASON_FENCE_BREACH);
}
}
// log an error in the dataflash
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_FENCE, new_breaches);
} else if (orig_breaches) {
// record clearing of breach
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_FENCE, ERROR_CODE_ERROR_RESOLVED);
}
}
// fence_send_mavlink_status - send fence status to ground station
void Rover::fence_send_mavlink_status(mavlink_channel_t chan)
{
if (g2.fence.enabled()) {
// traslate fence library breach types to mavlink breach types
uint8_t mavlink_breach_type = FENCE_BREACH_NONE;
const uint8_t breaches = g2.fence.get_breaches();
if ((breaches & (AC_FENCE_TYPE_CIRCLE | AC_FENCE_TYPE_POLYGON)) != 0) {
mavlink_breach_type = FENCE_BREACH_BOUNDARY;
}
// send status
mavlink_msg_fence_status_send(chan,
static_cast<int8_t>(g2.fence.get_breaches() != 0),
g2.fence.get_breach_count(),
mavlink_breach_type,
g2.fence.get_breach_time());
}
}