mirror of https://github.com/ArduPilot/ardupilot
76 lines
1.3 KiB
C++
76 lines
1.3 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
|
|
|
|
/// @brief Imposes limits on location (geofence), altitude and other parameters
|
|
/// Each breach will trigger an action or set of actions to recover.
|
|
/// Adapted from geofence.
|
|
/// @author Andrew Tridgell
|
|
/// Andreas Antonopoulos
|
|
|
|
|
|
#include <AP_Limit_Module.h>
|
|
|
|
extern const prog_char_t *get_module_name(enum moduleid i) {
|
|
|
|
switch (i) {
|
|
case AP_LIMITS_GPSLOCK:
|
|
return PSTR("GPSLock Limit");
|
|
break;
|
|
case AP_LIMITS_GEOFENCE:
|
|
return PSTR("Geofence Limit");
|
|
break;
|
|
case AP_LIMITS_ALTITUDE:
|
|
return PSTR("Altitude Limit");
|
|
break;
|
|
default:
|
|
return PSTR("ERROR");
|
|
break;
|
|
}
|
|
}
|
|
|
|
AP_Limit_Module::AP_Limit_Module(enum moduleid i) {
|
|
_id = i;
|
|
_next = NULL;
|
|
}
|
|
|
|
bool AP_Limit_Module::init() {
|
|
|
|
_triggered = false;
|
|
return true;
|
|
};
|
|
|
|
moduleid AP_Limit_Module::get_module_id() {
|
|
return(_id);
|
|
}
|
|
|
|
bool AP_Limit_Module::enabled() {
|
|
return(_enabled);
|
|
}
|
|
|
|
bool AP_Limit_Module::required() {
|
|
return(_required);
|
|
}
|
|
|
|
AP_Limit_Module *AP_Limit_Module::next() {
|
|
return(_next);
|
|
}
|
|
|
|
void AP_Limit_Module::link(AP_Limit_Module *m) {
|
|
_next = m;
|
|
}
|
|
|
|
bool AP_Limit_Module::triggered() {
|
|
return(_triggered);
|
|
}
|
|
|
|
void AP_Limit_Module::action() {
|
|
// do nothing
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|