Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

AC_Fence: Add minimum altitude limit

Browse Source 
get_safe_alt() -> get_safe_alt_max() and get_safe_alt_min()
This commit is contained in:
Jacob Walser 2017-02-03 15:18:25 +11:00 committed by Andrew Tridgell
parent 0e124d0be5
commit 3c6df7cc0e
2 changed files with 15 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
libraries/AC_Fence/AC_Fence.cpp
View File

@ -60,6 +60,15 @@ const AP_Param::GroupInfo AC_Fence::var_info[] = {
// @User: Standard // @User: Standard
AP_GROUPINFO("TOTAL", 6, AC_Fence, _total, 0), AP_GROUPINFO("TOTAL", 6, AC_Fence, _total, 0),
// @Param: ALT_MIN
// @DisplayName: Fence Minimum Altitude
// @Description: Minimum altitude allowed before geofence triggers
// @Units: Meters
// @Range: -100 100
// @Increment: 1
// @User: Standard
AP_GROUPINFO_FRAME("ALT_MIN", 7, AC_Fence, _alt_min, AC_FENCE_ALT_MIN_DEFAULT, AP_PARAM_FRAME_SUB),
AP_GROUPEND AP_GROUPEND
}; };

7
libraries/AC_Fence/AC_Fence.h
View File

@ -22,6 +22,7 @@
// default boundaries // default boundaries
#define AC_FENCE_ALT_MAX_DEFAULT 100.0f // default max altitude is 100m #define AC_FENCE_ALT_MAX_DEFAULT 100.0f // default max altitude is 100m
#define AC_FENCE_ALT_MIN_DEFAULT -10.0f // default maximum depth in meters
#define AC_FENCE_CIRCLE_RADIUS_DEFAULT 300.0f // default circular fence radius is 300m #define AC_FENCE_CIRCLE_RADIUS_DEFAULT 300.0f // default circular fence radius is 300m
#define AC_FENCE_ALT_MAX_BACKUP_DISTANCE 20.0f // after fence is broken we recreate the fence 20m further up #define AC_FENCE_ALT_MAX_BACKUP_DISTANCE 20.0f // after fence is broken we recreate the fence 20m further up
#define AC_FENCE_CIRCLE_RADIUS_BACKUP_DISTANCE 20.0f // after fence is broken we recreate the fence 20m further out #define AC_FENCE_CIRCLE_RADIUS_BACKUP_DISTANCE 20.0f // after fence is broken we recreate the fence 20m further out
@ -77,7 +78,10 @@ public:
uint8_t get_action() const { return _action.get(); } uint8_t get_action() const { return _action.get(); }
/// get_safe_alt - returns maximum safe altitude (i.e. alt_max - margin) /// get_safe_alt - returns maximum safe altitude (i.e. alt_max - margin)
float get_safe_alt() const { return _alt_max - _margin; } float get_safe_alt_max() const { return _alt_max - _margin; }
/// get_safe_alt_min - returns the minimum safe altitude (i.e. alt_min - margin)
float get_safe_alt_min() const { return _alt_min + _margin; }
/// get_radius - returns the fence radius in meters /// get_radius - returns the fence radius in meters
float get_radius() const { return _circle_radius.get(); } float get_radius() const { return _circle_radius.get(); }
@ -132,6 +136,7 @@ private:
AP_Int8 _enabled_fences; // bit mask holding which fences are enabled AP_Int8 _enabled_fences; // bit mask holding which fences are enabled
AP_Int8 _action; // recovery action specified by user AP_Int8 _action; // recovery action specified by user
AP_Float _alt_max; // altitude upper limit in meters AP_Float _alt_max; // altitude upper limit in meters
AP_Float _alt_min; // altitude lower limit in meters
AP_Float _circle_radius; // circle fence radius in meters AP_Float _circle_radius; // circle fence radius in meters
AP_Float _margin; // distance in meters that autopilot's should maintain from the fence to avoid a breach AP_Float _margin; // distance in meters that autopilot's should maintain from the fence to avoid a breach
AP_Int8 _total; // number of polygon points saved in eeprom AP_Int8 _total; // number of polygon points saved in eeprom