mirror of https://github.com/ArduPilot/ardupilot
71 lines
2.1 KiB
C++
71 lines
2.1 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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/// @file limits.h
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/// @brief Imposes limits on location (geofence), altitude and other parameters.
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/// Each limit breach will trigger an action or set of actions to recover. Adapted from geofence.
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/// @author Andrew Tridgell
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/// Andreas Antonopoulos
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#include <AP_Limits.h>
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#include <AP_Limit_Module.h>
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#include <AP_Common.h>
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#include <AP_Math.h>
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#include <AP_Param.h>
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#ifndef AP_Limit_Geofence_H
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#define AP_Limit_Geofence_H
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#endif // AP_Limit_Geofence_H
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#ifndef GPS_h
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#include <GPS.h>
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#endif
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#define MAX_FENCEPOINTS 6 // Fence points reduced from 20 to 6 to save memory
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class AP_Limit_Geofence : public AP_Limit_Module {
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public:
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AP_Limit_Geofence(uint32_t _eeprom_fence_start, uint8_t fpsize, uint8_t max_fp, GPS *&gps, struct Location *home_loc, struct Location *current_loc);
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bool init();
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bool triggered();
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AP_Int8 fence_total();
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void set_fence_point_with_index(Vector2l &point, uint8_t i);
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Vector2l get_fence_point_with_index(uint8_t i);
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void update_boundary();
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bool boundary_correct();
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static const struct AP_Param::GroupInfo var_info[];
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protected:
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// pointers to gps, current location and home
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GPS *& _gps;
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struct Location * _current_loc;
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struct Location * _home;
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// Simple mode, just radius
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AP_Int8 _simple; // 1 = simple, 0 = complex
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AP_Int16 _radius; // in meters, for simple mode
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// Complex mode, defined fence points
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AP_Int8 _fence_total;
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AP_Int8 _num_points;
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private:
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const uint32_t _eeprom_fence_start;
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const unsigned _fence_wp_size;
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const unsigned _max_fence_points;
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bool _boundary_uptodate;
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Vector2l _boundary[MAX_FENCEPOINTS]; // complex mode fence
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};
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// Helper functions
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uint32_t get_distance_meters(struct Location *loc1, struct Location *loc2); // distance in meters between two locations
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