Andrew Tridgell
b54ab2d72a
APM: expose change_command() and geofence_breached() to libraries
...
this makes a failsafe library easier
2012-08-15 12:39:34 +10:00
Andrew Tridgell
67f076a9db
APM: change variables to use _cm, _cd and _ms suffix for units
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this makes it less likely that we mix up units
2012-08-08 12:12:30 +10:00
Andrew Tridgell
24ba59f528
APM: fixed overflow in geofence code for altitudes above 327 meters
2012-07-31 15:46:47 +10:00
Andrew Tridgell
6ced622da4
APM: fixed some build warnings and type errors
2012-07-06 19:59:18 +10:00
Andrew Tridgell
85332ff85b
GeoFence: fixed default return altitude units
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off by 100x!
2012-07-05 15:06:44 +10:00
Andrew Tridgell
c91827ee09
geofence: re-breach if user changes mode outside the fence
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if the user changes mode while outside the fence, and fencing is still
enabled, then declare a new breach
2011-12-28 17:28:35 +11:00
Andrew Tridgell
98406e842b
geofence: send fence status messages on fence events
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this ensures the fence status goes out as soon as possible, which
means the messages arrive in a sane order on the GCS
2011-12-19 11:25:59 +11:00
Andrew Tridgell
ce035fc324
geofence: enable return to old control mode via FENCE_CHANNEL
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if you disable fencing with the fence channel switch while still in
GUIDED mode to the return point, then reset the control mode back to
the transmitter control mode
2011-12-18 10:00:44 +11:00
Andrew Tridgell
ed17f64459
geofence: added FENCE_TRIGGERED_PIN
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this allows for a digital pin to be set high when the geofence
triggers. This pin can be connected to an external failsafe device
2011-12-17 07:29:08 +11:00
Andrew Tridgell
1ab2b416a3
geofence: store fence points as int32_t
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this keeps maximum precision in fence boundaries
2011-12-16 20:11:51 +11:00
Andrew Tridgell
b3327c64de
geofence: added fence status reporting and faster altitude check
2011-12-16 20:11:51 +11:00
Andrew Tridgell
a6e451c1b2
geofence: don't trim control surfaces on geo-fence breach
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the user input is likely to be bad
2011-12-16 20:11:51 +11:00
Andrew Tridgell
1b64185b18
geofence: main geo-fence code
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this implements the primary logic of geo-fencing
2011-12-16 20:11:51 +11:00