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https://github.com/PX4/PX4-Autopilot.git
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2865bbb8ab
- 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>
14 lines
843 B
Plaintext
14 lines
843 B
Plaintext
uint64 timestamp # time since system start (microseconds)
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uint8 GF_ACTION_NONE = 0 # no action on geofence violation
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uint8 GF_ACTION_WARN = 1 # critical mavlink message
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uint8 GF_ACTION_LOITER = 2 # switch to AUTO|LOITER
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uint8 GF_ACTION_RTL = 3 # switch to AUTO|RTL
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uint8 GF_ACTION_TERMINATE = 4 # flight termination
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uint8 GF_ACTION_LAND = 5 # switch to AUTO|LAND
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bool geofence_max_dist_triggered # true the check for max distance from Home is triggered
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bool geofence_max_alt_triggered # true the check for max altitude above Home is triggered
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bool geofence_custom_fence_triggered # true the check for custom inclusion/exclusion geofence(s) is triggered
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uint8 geofence_action # action to take when the geofence is breached
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