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geofence: added geo-fencing control parameters

This commit is contained in:
Andrew Tridgell 2011-12-15 18:08:58 +11:00
parent 3ddfc6664a
commit 238c25c05e
3 changed files with 32 additions and 1 deletions
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15
ArduPlane/Parameters.h
View File

@ -168,6 +168,11 @@ public:
k_param_command_index,
k_param_waypoint_radius,
k_param_loiter_radius,
k_param_fence_action,
k_param_fence_total,
k_param_fence_channel,
k_param_fence_minalt,
k_param_fence_maxalt,
//
// 240: PID Controllers
@ -260,6 +265,11 @@ public:
AP_Int8 command_index;
AP_Int8 waypoint_radius;
AP_Int8 loiter_radius;
AP_Int8 fence_action;
AP_Int8 fence_total;
AP_Int8 fence_channel;
AP_Int16 fence_minalt; // meters
AP_Int16 fence_maxalt; // meters
// Fly-by-wire
//
@ -379,6 +389,11 @@ public:
command_index (0, k_param_command_index, PSTR("CMD_INDEX")),
waypoint_radius (WP_RADIUS_DEFAULT, k_param_waypoint_radius, PSTR("WP_RADIUS")),
loiter_radius (LOITER_RADIUS_DEFAULT, k_param_loiter_radius, PSTR("WP_LOITER_RAD")),
fence_action (0, k_param_fence_action, PSTR("FENCE_ACTION")),
fence_total (0, k_param_fence_total, PSTR("FENCE_TOTAL")),
fence_channel (0, k_param_fence_channel, PSTR("FENCE_CHANNEL")),
fence_minalt (0, k_param_fence_minalt, PSTR("FENCE_MINALT")),
fence_maxalt (0, k_param_fence_maxalt, PSTR("FENCE_MAXALT")),
flybywire_airspeed_min (AIRSPEED_FBW_MIN, k_param_flybywire_airspeed_min, PSTR("ARSPD_FBW_MIN")),
flybywire_airspeed_max (AIRSPEED_FBW_MAX, k_param_flybywire_airspeed_max, PSTR("ARSPD_FBW_MAX")),

10
ArduPlane/config.h
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@ -794,3 +794,13 @@
#ifndef MAVLINK_TELEMETRY_PORT_DELAY
# define MAVLINK_TELEMETRY_PORT_DELAY 2000
#endif
// use this to disable gen-fencing
#ifndef GEOFENCE_ENABLED
# define GEOFENCE_ENABLED ENABLED
#endif
// pwm value on FENCE_CHANNEL to use to enable fenced mode
#ifndef FENCE_ENABLE_PWM
# define FENCE_ENABLE_PWM 1750
#endif

8
ArduPlane/defines.h
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@ -213,8 +213,14 @@ enum gcs_severity {
#define WP_START_BYTE 0x400 // where in memory home WP is stored + all other WP
#define WP_SIZE 15
// fence points are stored at the end of the EEPROM
#define MAX_FENCEPOINTS 20
#define FENCE_WP_SIZE sizeof(Vector2f)
#define FENCE_START_BYTE (EEPROM_MAX_ADDR-(MAX_FENCEPOINTS*FENCE_WP_SIZE))
#define MAX_WAYPOINTS ((FENCE_START_BYTE - WP_START_BYTE) / WP_SIZE) - 1 // - 1 to be safe
#define ONBOARD_PARAM_NAME_LENGTH 15
#define MAX_WAYPOINTS ((EEPROM_MAX_ADDR - WP_START_BYTE) / WP_SIZE) - 1 // - 1 to be safe
// convert a boolean (0 or 1) to a sign for multiplying (0 maps to 1, 1 maps to -1)
#define BOOL_TO_SIGN(bvalue) ((bvalue)?-1:1)