GeofenceResult (UORB message)

TOPICS: geofence_result

Fields

명칭	형식	Unit [Frame]	Range/Enum	설명
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

Source file (GitHub)

Details

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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