navigator/geofence: add parameter to disable geofence

src/modules/navigator/geofence.cpp

@@ -58,9 +58,11 @@ static const int ERROR = -1;
 Geofence::Geofence() : _fence_pub(-1),
 		_altitude_min(0),
 		_altitude_max(0),
-		_verticesCount(0)
+		_verticesCount(0),
+		param_geofence_on(NULL, "GF_ON", false)
 {
-
+	/* Load initial params */
+	updateParams();
 }
 
 Geofence::~Geofence()
@@ -80,6 +82,10 @@ bool Geofence::inside(const struct vehicle_global_position_s *vehicle)
 
 bool Geofence::inside(double lat, double lon, float altitude)
 {
+	/* Return true if geofence is disabled */
+	if (param_geofence_on.get() != 1)
+		return true;
+
 	if (valid()) {
 
 		if (!isEmpty()) {
@@ -286,3 +292,8 @@ int Geofence::clearDm()
 {
 	dm_clear(DM_KEY_FENCE_POINTS);
 }
+
+void Geofence::updateParams()
+{
+	param_geofence_on.update();
+}

src/modules/navigator/geofence.h

@@ -41,6 +41,7 @@
 #define GEOFENCE_H_
 
 #include <uORB/topics/fence.h>
+#include <controllib/block/BlockParam.hpp>
 
 #define GEOFENCE_FILENAME "/fs/microsd/etc/geofence.txt"
 
@@ -52,6 +53,9 @@ private:
 	float			_altitude_max;
 
 	unsigned 			_verticesCount;
+
+	/* Params */
+	control::BlockParamInt param_geofence_on;
 public:
 	Geofence();
 	~Geofence();
@@ -81,6 +85,8 @@ public:
 	int loadFromFile(const char *filename);
 
 	bool isEmpty() {return _verticesCount == 0;}
+
+	void updateParams();
 };
 
 

src/modules/navigator/geofence_params.c

@@ -0,0 +1,55 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file geofence_params.c
+ *
+ * Parameters for geofence
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ */
+
+#include <nuttx/config.h>
+
+#include <systemlib/param/param.h>
+
+/*
+ * geofence parameters, accessible via MAVLink
+ *
+ */
+
+// @DisplayName		Switch to enable geofence
+// @Description		if set to 1 geofence is enabled, defaults to 1 because geofence is only enabled when the geofence.txt file is present
+// @Range		0 or 1
+PARAM_DEFINE_INT32(GF_ON, 1);

src/modules/navigator/module.mk

@@ -41,6 +41,7 @@ SRCS		= navigator_main.cpp \
 		  navigator_params.c \
 		  navigator_mission.cpp \
 		  mission_feasibility_checker.cpp \
-		  geofence.cpp
+		  geofence.cpp \
+		  geofence_params.c
 
 INCLUDE_DIRS	 += $(MAVLINK_SRC)/include/mavlink

src/modules/navigator/navigator_main.cpp

@@ -458,6 +458,8 @@ Navigator::parameters_update()
 	param_get(_parameter_handles.rtl_alt, &(_parameters.rtl_alt));
 
 	_mission.set_onboard_mission_allowed((bool)_parameter_handles.onboard_mission_enabled);
+
+	_geofence.updateParams();
 }
 
 void