3.7 KiB
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GeofenceResult (повідомлення UORB)
TOPICS: geofence_result
Fields
| Назва | Тип | Unit [Frame] | Range/Enum | Опис |
|---|---|---|---|---|
| timestamp | uint64 |
time since system start (microseconds) | ||
| geofence_max_dist_triggered | bool |
true the check for max distance from Home is triggered | ||
| geofence_max_alt_triggered | bool |
true the check for max altitude above Home is triggered | ||
| geofence_custom_fence_triggered | bool |
true the check for custom inclusion/exclusion geofence(s) is triggered | ||
| geofence_action | uint8 |
action to take when the geofence is breached |
Constants
| Name | Type | Value | Description |
| ----------------------------------------------------- | ------- | ----- | ------------------------------- | ------ |
| GF_ACTION_NONE | uint8 | 0 | no action on geofence violation |
| GF_ACTION_WARN | uint8 | 1 | critical mavlink message |
| GF_ACTION_LOITER | uint8 | 2 | switch to AUTO | LOITER |
| GF_ACTION_RTL | uint8 | 3 | switch to AUTO | RTL |
| GF_ACTION_TERMINATE | uint8 | 4 | flight termination |
| GF_ACTION_LAND | uint8 | 5 | switch to AUTO | LAND |
Source Message
:::details Click here to see original file
uint64 timestamp # time since system start (microseconds)
uint8 GF_ACTION_NONE = 0 # no action on geofence violation
uint8 GF_ACTION_WARN = 1 # critical mavlink message
uint8 GF_ACTION_LOITER = 2 # switch to AUTO|LOITER
uint8 GF_ACTION_RTL = 3 # switch to AUTO|RTL
uint8 GF_ACTION_TERMINATE = 4 # flight termination
uint8 GF_ACTION_LAND = 5 # switch to AUTO|LAND
bool geofence_max_dist_triggered # true the check for max distance from Home is triggered
bool geofence_max_alt_triggered # true the check for max altitude above Home is triggered
bool geofence_custom_fence_triggered # true the check for custom inclusion/exclusion geofence(s) is triggered
uint8 geofence_action # action to take when the geofence is breached
:::