// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-


/// @file	limits.cpp
/// @brief	Imposes limits on location (geofence), altitude and other parameters.
///         Each limit breach will trigger an action or set of actions to recover. Adapted from geofence.
/// @author Andrew Tridgell
///         Andreas Antonopoulos

#include <AP_Limit_GPSLock.h>

const AP_Param::GroupInfo AP_Limit_GPSLock::var_info[] PROGMEM = {
	// @Param: GPSLCK_ON
	// @DisplayName: Enable gpslock
	// @Description: Setting this to Enabled(1) will enable the gpslock. Setting this to Disabled(0) will disable the gpslock
	// @Values: 0:Disabled,1:Enabled
	// @User: Standard
	AP_GROUPINFO("GPSLCK_ON",	0,	AP_Limit_GPSLock,	_enabled),

	// @Param: GPSLCK_REQ
	// @DisplayName: Require gpslock
	// @Description: Setting this to Enabled(1) will make being inside the gpslock a required check before arming the vehicle.
	// @Values: 0:Disabled,1:Enabled
	// @User: Standard
	AP_GROUPINFO("GPSLCK_REQ",	1,	AP_Limit_GPSLock,	_required),
    AP_GROUPEND

};

AP_Limit_GPSLock::AP_Limit_GPSLock(GPS *&gps) :
	AP_Limit_Module(AP_LIMITS_GPSLOCK), // enabled and required
	_gps(gps)
{
}


bool AP_Limit_GPSLock::triggered() {
	_triggered = false; // reset trigger before checking

	if (!_gps || !_gps->fix) {
		_triggered = true;
	}

	return _triggered;
}