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Added SAFETY_ALLOWED_AREA rx handler #689

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merged 2 commits into from
Apr 9, 2017
Merged

Added SAFETY_ALLOWED_AREA rx handler #689

merged 2 commits into from
Apr 9, 2017

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TSC21
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@TSC21 TSC21 commented Apr 6, 2017

Added SAFETY_ALLOWED_AREA rx handler and publish PolygonStamped msg with the 2 points. Related to PX4/PX4-Autopilot#4167. To be sync with geofence function on the FW side, mainly to work with local position values.

@TSC21 TSC21 self-assigned this Apr 6, 2017
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TSC21 commented Apr 6, 2017

As is it can be merged onto master. But the following work will be to implement usage on the firmware side. @dagar are you aware of how geofence works on the PX4 side and how can we manage to integrate this to geofence in the local frame?

@TSC21 TSC21 mentioned this pull request Apr 6, 2017
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@TSC21 TSC21 modified the milestone: Version 0.19 Apr 8, 2017
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TSC21 commented Apr 8, 2017

@vooon, @mhkabir lgtm?

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dagar commented Apr 9, 2017

Sorry just saw this now. PX4 geofence is currently a simple cylinder around home (defined with params), or a list of GPS coordinates (listed in a text file on the sdcard).

There's new work to extend the mavlink mission protocol to edit the polygon geofence. We could then extend it to work with a local frame.

@TSC21 TSC21 requested review from vooon and mhkabir April 9, 2017 04:04
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TSC21 commented Apr 9, 2017 •
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Sorry just saw this now. PX4 geofence is currently a simple cylinder around home (defined with params), or a list of GPS coordinates (listed in a text file on the sdcard).

There's new work to extend the mavlink mission protocol to edit the polygon geofence. We could then extend it to work with a local frame.

That sounds awesome @dagar. Let me know of what I can help so we can progress with that.

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dagar commented Apr 9, 2017

Mavlink PR - mavlink/mavlink#683
PX4 PR - PX4/PX4-Autopilot#6888

Once that's in place we can talk about extending it to other MAV_FRAME's.

vooon
vooon approved these changes Apr 9, 2017
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mavros/src/plugins/safety_area.cpp

/** @todo Publish SAFETY_ALLOWED_AREA message */
return {
make_handler(&SafetyAreaPlugin::handle_safety_allowed_area)
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Wtf? Spaces? Check indentation.

@vooon vooon merged commit 2d5eea2 into mavlink:master Apr 9, 2017
@TSC21 TSC21 deleted the safety_allowed_area branch April 9, 2017 18:38
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@vooon vooon vooon approved these changes

@mhkabir mhkabir Awaiting requested review from mhkabir

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