Exemplos de mavlink_msg_fence_status_send em C++ (Cpp)

Exemplo n.º 1

Arquivo: geofence.cpp Projeto: Hurisa/ardupilot

void Plane::geofence_send_status(mavlink_channel_t chan)
{
    if (geofence_enabled() && geofence_state != nullptr) {
        mavlink_msg_fence_status_send(chan,
                                      (int8_t)geofence_state->fence_triggered,
                                      geofence_state->breach_count,
                                      geofence_state->breach_type,
                                      geofence_state->breach_time);
    }
}

Exemplo n.º 2

Arquivo: fence.cpp Projeto: Benbenbeni/ardupilot-1

// fence_send_mavlink_status - send fence status to ground station
void Copter::fence_send_mavlink_status(mavlink_channel_t chan)
{   
    if (fence.enabled()) {
        // traslate fence library breach types to mavlink breach types
        uint8_t mavlink_breach_type = FENCE_BREACH_NONE;
        uint8_t breaches = fence.get_breaches();
        if ((breaches & AC_FENCE_TYPE_ALT_MAX) != 0) {
            mavlink_breach_type = FENCE_BREACH_MAXALT;
        }
        if ((breaches & (AC_FENCE_TYPE_CIRCLE | AC_FENCE_TYPE_POLYGON)) != 0) {
            mavlink_breach_type = FENCE_BREACH_BOUNDARY;
        }

        // send status
        mavlink_msg_fence_status_send(chan,
                                      (int8_t)(fence.get_breaches()!=0),
                                      fence.get_breach_count(),
                                      mavlink_breach_type,
                                      fence.get_breach_time());
    }
}