ardupilot/libraries/AP_Limits/AP_Limit_GPSLock.cpp

49 lines
1.5 KiB
C++

// -*- 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[] = {
// @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, 0),
// @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, 0),
AP_GROUPEND
};
AP_Limit_GPSLock::AP_Limit_GPSLock(GPS *&gps) :
AP_Limit_Module(AP_LIMITS_GPSLOCK), // enabled and required
_gps(gps)
{
AP_Param::setup_object_defaults(this, var_info);
}
bool AP_Limit_GPSLock::triggered() {
_triggered = false; // reset trigger before checking
if (!_gps || !_gps->fix) {
_triggered = true;
}
return _triggered;
}