mirror of https://github.com/ArduPilot/ardupilot
49 lines
1.5 KiB
C++
49 lines
1.5 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/// @file limits.cpp
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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.
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/// Adapted from geofence.
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/// @author Andrew Tridgell
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/// Andreas Antonopoulos
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#include "AP_Limit_GPSLock.h"
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const AP_Param::GroupInfo AP_Limit_GPSLock::var_info[] PROGMEM = {
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// @Param: GPSLCK_ON
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// @DisplayName: Enable gpslock
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// @Description: Setting this to Enabled(1) will enable the gpslock. Setting this to Disabled(0) will disable the gpslock
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// @Values: 0:Disabled,1:Enabled
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// @User: Standard
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AP_GROUPINFO("GPSLCK_ON", 0, AP_Limit_GPSLock, _enabled, 0),
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// @Param: GPSLCK_REQ
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// @DisplayName: Require gpslock
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// @Description: Setting this to Enabled(1) will make being inside the gpslock a required check before arming the vehicle.
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// @Values: 0:Disabled,1:Enabled
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// @User: Standard
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AP_GROUPINFO("GPSLCK_REQ", 1, AP_Limit_GPSLock, _required, 0),
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AP_GROUPEND
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};
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AP_Limit_GPSLock::AP_Limit_GPSLock(GPS *&gps) :
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AP_Limit_Module(AP_LIMITS_GPSLOCK), // enabled and required
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_gps(gps)
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{
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AP_Param::setup_object_defaults(this, var_info);
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}
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bool AP_Limit_GPSLock::triggered() {
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_triggered = false; // reset trigger before checking
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if (!_gps || !_gps->fix) {
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_triggered = true;
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}
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return _triggered;
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}
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