Paparazzi UAS  v5.15_devel-99-g2ff7410
Paparazzi is a free software Unmanned Aircraft System.
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nav_geofence.h
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21 
34 #ifdef GEOFENCE_DATALINK_LOST_TIME
36 /*
37  * from the airfame config file:
38  * go to HOME mode if datalink lost for GEOFENCE_DATALINK_LOST_TIME
39  */
40 static inline bool datalink_lost(void)
41 {
42  return (datalink_time > GEOFENCE_DATALINK_LOST_TIME);
43 }
44 #else // dont trigger this exception
45 static inline bool datalink_lost(void)
46 {
47  return false;
48 }
49 #endif /* GEOFENCE_DATALINK_LOST_TIME */
50 
51 
52 #if defined GEOFENCE_MAX_ALTITUDE || defined GEOFENCE_MAX_HEIGHT// user defined geofence_max_altitude (or AGL) in the flight plan
53 static inline bool higher_than_max_altitude(void)
54 {
55  bool above_max_alt = false;
56 #ifdef GEOFENCE_MAX_ALTITUDE
57  above_max_alt = above_max_alt || (GetPosAlt() > GEOFENCE_MAX_ALTITUDE);
58 #endif /* GEOFENCE_MAX_ALTITUDE */
59 
60 #ifdef GEOFENCE_MAX_HEIGHT
61  above_max_alt = above_max_alt || (GetPosAlt() > ( GetAltRef() + GEOFENCE_MAX_HEIGHT));
62 #endif /* GEOFENCE_MAX_HEIGHT */
63  return above_max_alt;
64 }
65 #else // we dont have max altitude specified, so the condition is never true
66 static inline bool higher_than_max_altitude(void)
67 {
68  return false;
69 }
70 #endif /* GEOFENCE_MAX_ALTITUDE */
uint16_t datalink_time
Definition: sim_ap.c:41