mirror of https://github.com/ArduPilot/ardupilot
107 lines
3.0 KiB
C++
107 lines
3.0 KiB
C++
#include "GCS.h"
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#include <AC_Fence/AC_Fence.h>
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#include <AC_Avoidance/AC_Avoid.h>
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#include <AP_Vehicle/AP_Vehicle_Type.h>
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MAV_RESULT GCS_MAVLINK::handle_command_do_fence_enable(const mavlink_command_long_t &packet)
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{
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#if AP_FENCE_ENABLED
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AC_Fence *fence = AP::fence();
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if (fence == nullptr) {
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return MAV_RESULT_UNSUPPORTED;
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}
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switch ((uint16_t)packet.param1) {
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case 0: // disable fence
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fence->enable(false);
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return MAV_RESULT_ACCEPTED;
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case 1: // enable fence
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if (!fence->present())
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{
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return MAV_RESULT_FAILED;
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}
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fence->enable(true);
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return MAV_RESULT_ACCEPTED;
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case 2: // disable fence floor only
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fence->disable_floor();
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return MAV_RESULT_ACCEPTED;
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default:
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return MAV_RESULT_FAILED;
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}
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#else
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return MAV_RESULT_UNSUPPORTED;
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#endif // AP_FENCE_ENABLED
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}
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void GCS_MAVLINK::handle_fence_message(const mavlink_message_t &msg)
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{
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#if AP_FENCE_ENABLED
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AC_Fence *fence = AP::fence();
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if (fence == nullptr) {
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return;
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}
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// send or receive fence points with GCS
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switch (msg.msgid) {
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case MAVLINK_MSG_ID_FENCE_POINT:
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case MAVLINK_MSG_ID_FENCE_FETCH_POINT:
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fence->polyfence().handle_msg(*this, msg);
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break;
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default:
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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AP_HAL::panic("Unhandled common fence message");
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#endif
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break;
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}
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#endif // AP_FENCE_ENABLED
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}
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// fence_send_mavlink_status - send fence status to ground station
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void GCS_MAVLINK::send_fence_status() const
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{
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#if AP_FENCE_ENABLED
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const AC_Fence *fence = AP::fence();
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if (fence == nullptr) {
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return;
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}
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if (!fence->enabled()) {
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return;
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}
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// traslate fence library breach types to mavlink breach types
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uint8_t mavlink_breach_type = FENCE_BREACH_NONE;
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const uint8_t breaches = fence->get_breaches();
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if ((breaches & AC_FENCE_TYPE_ALT_MIN) != 0) {
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mavlink_breach_type = FENCE_BREACH_MINALT;
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}
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if ((breaches & AC_FENCE_TYPE_ALT_MAX) != 0) {
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mavlink_breach_type = FENCE_BREACH_MAXALT;
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}
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if ((breaches & (AC_FENCE_TYPE_CIRCLE | AC_FENCE_TYPE_POLYGON)) != 0) {
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mavlink_breach_type = FENCE_BREACH_BOUNDARY;
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}
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// report on Avoidance liminting
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uint8_t breach_mitigation = FENCE_MITIGATE_UNKNOWN;
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#if !APM_BUILD_TYPE(APM_BUILD_ArduPlane)
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const AC_Avoid* avoid = AC_Avoid::get_singleton();
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if (avoid != nullptr) {
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if (avoid->limits_active()) {
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breach_mitigation = FENCE_MITIGATE_VEL_LIMIT;
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} else {
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breach_mitigation = FENCE_MITIGATE_NONE;
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}
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}
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#endif
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// send status
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mavlink_msg_fence_status_send(chan,
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static_cast<int8_t>(fence->get_breaches() != 0),
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fence->get_breach_count(),
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mavlink_breach_type,
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fence->get_breach_time(),
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breach_mitigation);
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#endif // AP_FENCE_ENABLED
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}
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