From fd709e05b0634c6aad1c01b657c5997259d114a3 Mon Sep 17 00:00:00 2001
From: Silvan Fuhrer <silvan@auterion.com>
Date: Thu, 16 Nov 2023 13:47:12 +0100
Subject: [PATCH] Geofence: remove GF_ALTMODE

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
---
 src/modules/navigator/geofence.cpp      | 30 +++++--------------------
 src/modules/navigator/geofence.h        | 12 +---------
 src/modules/navigator/geofence_params.c | 13 -----------
 3 files changed, 6 insertions(+), 49 deletions(-)

diff --git a/src/modules/navigator/geofence.cpp b/src/modules/navigator/geofence.cpp
index b2493057ba..9b01736f3d 100644
--- a/src/modules/navigator/geofence.cpp
+++ b/src/modules/navigator/geofence.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013,2017 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2013-2023 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -55,8 +55,7 @@
 
 Geofence::Geofence(Navigator *navigator) :
 	ModuleParams(navigator),
-	_navigator(navigator),
-	_sub_airdata(ORB_ID(vehicle_air_data))
+	_navigator(navigator)
 {
 	if (_navigator != nullptr) {
 		updateFence();
@@ -250,11 +249,6 @@ bool Geofence::checkAll(const struct vehicle_global_position_s &global_position)
 	return checkAll(global_position.lat, global_position.lon, global_position.alt);
 }
 
-bool Geofence::checkAll(const struct vehicle_global_position_s &global_position, const float alt)
-{
-	return checkAll(global_position.lat, global_position.lon, alt);
-}
-
 bool Geofence::checkAll(double lat, double lon, float altitude)
 {
 	bool inside_fence = isCloserThanMaxDistToHome(lat, lon, altitude);
@@ -283,25 +277,11 @@ bool Geofence::checkAll(double lat, double lon, float altitude)
 
 bool Geofence::check(const vehicle_global_position_s &global_position, const sensor_gps_s &gps_position)
 {
-	if (_param_gf_altmode.get() == Geofence::GF_ALT_MODE_WGS84) {
-		if (getSource() == Geofence::GF_SOURCE_GLOBALPOS) {
-			return checkAll(global_position);
-
-		} else {
-			return checkAll(gps_position.latitude_deg, gps_position.longitude_deg, gps_position.altitude_msl_m);
-		}
+	if (getSource() == Geofence::GF_SOURCE_GLOBALPOS) {
+		return checkAll(global_position);
 
 	} else {
-		// get baro altitude
-		_sub_airdata.update();
-		const float baro_altitude_amsl = _sub_airdata.get().baro_alt_meter;
-
-		if (getSource() == Geofence::GF_SOURCE_GLOBALPOS) {
-			return checkAll(global_position, baro_altitude_amsl);
-
-		} else {
-			return checkAll(gps_position.latitude_deg, gps_position.longitude_deg, baro_altitude_amsl);
-		}
+		return checkAll(gps_position.latitude_deg, gps_position.longitude_deg, gps_position.altitude_msl_m);
 	}
 }
 
diff --git a/src/modules/navigator/geofence.h b/src/modules/navigator/geofence.h
index 1804d151d5..0359141404 100644
--- a/src/modules/navigator/geofence.h
+++ b/src/modules/navigator/geofence.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2013-2023 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -52,7 +52,6 @@
 #include <uORB/topics/home_position.h>
 #include <uORB/topics/vehicle_global_position.h>
 #include <uORB/topics/sensor_gps.h>
-#include <uORB/topics/vehicle_air_data.h>
 
 #define GEOFENCE_FILENAME PX4_STORAGEDIR"/etc/geofence.txt"
 
@@ -66,12 +65,6 @@ public:
 	Geofence &operator=(const Geofence &) = delete;
 	virtual ~Geofence();
 
-	/* Altitude mode, corresponding to the param GF_ALTMODE */
-	enum {
-		GF_ALT_MODE_WGS84 = 0,
-		GF_ALT_MODE_AMSL = 1
-	};
-
 	/* Source, corresponding to the param GF_SOURCE */
 	enum {
 		GF_SOURCE_GLOBALPOS = 0,
@@ -195,7 +188,6 @@ private:
 
 	MapProjection _projection_reference{}; ///< class to convert (lon, lat) to local [m]
 
-	uORB::SubscriptionData<vehicle_air_data_s> _sub_airdata;
 
 	int _outside_counter{0};
 	uint16_t _update_counter{0}; ///< dataman update counter: if it does not match, polygon data was updated
@@ -222,7 +214,6 @@ private:
 
 
 	bool checkAll(const vehicle_global_position_s &global_position);
-	bool checkAll(const vehicle_global_position_s &global_position, float baro_altitude_amsl);
 
 	/**
 	 * Check if a single point is within a polygon
@@ -239,7 +230,6 @@ private:
 
 	DEFINE_PARAMETERS(
 		(ParamInt<px4::params::GF_ACTION>)         _param_gf_action,
-		(ParamInt<px4::params::GF_ALTMODE>)        _param_gf_altmode,
 		(ParamInt<px4::params::GF_SOURCE>)         _param_gf_source,
 		(ParamInt<px4::params::GF_COUNT>)          _param_gf_count,
 		(ParamFloat<px4::params::GF_MAX_HOR_DIST>) _param_gf_max_hor_dist,
diff --git a/src/modules/navigator/geofence_params.c b/src/modules/navigator/geofence_params.c
index 053a0aa36c..3d53fa1cdf 100644
--- a/src/modules/navigator/geofence_params.c
+++ b/src/modules/navigator/geofence_params.c
@@ -61,19 +61,6 @@
  */
 PARAM_DEFINE_INT32(GF_ACTION, 2);
 
-/**
- * Geofence altitude mode
- *
- * Select which altitude (AMSL) source should be used for geofence calculations.
- *
- * @min 0
- * @max 1
- * @value 0 Autopilot estimator global position altitude (GPS)
- * @value 1 Raw barometer altitude (assuming standard atmospheric pressure)
- * @group Geofence
- */
-PARAM_DEFINE_INT32(GF_ALTMODE, 0);
-
 /**
  * Geofence source
  *