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Geofence: rework messaging and notification

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- do reporting of breaching in-air only in geofenceCheck
- remove geofence_violation_reason_t
- replace geofence_breached field in GeofenceResult.msg with 3 fields
(one for each GF type: max dist, max alt, custom geofence)
- the warning message after breaching a GF is only done by Commander,
and it's specific to the GF type failure

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-11-16 14:33:44 +01:00
committed by Daniel Agar
parent 3c194d552a
commit 2865bbb8ab
10 changed files with 127 additions and 123 deletions
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msg/FailsafeFlags.msg
+1 -1
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@@ -43,7 +43,7 @@ bool battery_low_remaining_time # Low battery based on remaining flight ti
bool battery_unhealthy # Battery unhealthy
# Other
bool primary_geofence_breached # Primary Geofence breached
bool geofence_breached # Geofence breached (one or multiple)
bool mission_failure # Mission failure
bool vtol_fixed_wing_system_failure # vehicle in fixed-wing system failure failsafe mode (after quad-chute)
bool wind_limit_exceeded # Wind limit exceeded