#pragma once #include #include #include #include #include #include #include // bit masks for enabled fence types. Used for TYPE parameter #define AC_FENCE_TYPE_ALT_MAX 1 // high alt fence which usually initiates an RTL #define AC_FENCE_TYPE_CIRCLE 2 // circular horizontal fence (usually initiates an RTL) #define AC_FENCE_TYPE_POLYGON 4 // polygon horizontal fence // valid actions should a fence be breached #define AC_FENCE_ACTION_REPORT_ONLY 0 // report to GCS that boundary has been breached but take no further action #define AC_FENCE_ACTION_RTL_AND_LAND 1 // return to launch and, if that fails, land #define AC_FENCE_ACTION_ALWAYS_LAND 2 // always land #define AC_FENCE_ACTION_SMART_RTL 3 // smartRTL, if that fails, RTL, it that still fails, land #define AC_FENCE_ACTION_BRAKE 4 // brake, if that fails, land // default boundaries #define AC_FENCE_ALT_MAX_DEFAULT 100.0f // default max altitude is 100m #define AC_FENCE_ALT_MIN_DEFAULT -10.0f // default maximum depth in meters #define AC_FENCE_CIRCLE_RADIUS_DEFAULT 300.0f // default circular fence radius is 300m #define AC_FENCE_ALT_MAX_BACKUP_DISTANCE 20.0f // after fence is broken we recreate the fence 20m further up #define AC_FENCE_CIRCLE_RADIUS_BACKUP_DISTANCE 20.0f // after fence is broken we recreate the fence 20m further out #define AC_FENCE_MARGIN_DEFAULT 2.0f // default distance in meters that autopilot's should maintain from the fence to avoid a breach // give up distance #define AC_FENCE_GIVE_UP_DISTANCE 100.0f // distance outside the fence at which we should give up and just land. Note: this is not used by library directly but is intended to be used by the main code #define AC_FENCE_MANUAL_RECOVERY_TIME_MIN 10000 // pilot has 10seconds to recover during which time the autopilot will not attempt to re-take control class AC_Fence { public: AC_Fence(); /* Do not allow copies */ AC_Fence(const AC_Fence &other) = delete; AC_Fence &operator=(const AC_Fence&) = delete; /// enable - allows fence to be enabled/disabled. Note: this does not update the eeprom saved value void enable(bool value); /// enabled - returns true if fence is enabled bool enabled() const { return _enabled; } /// get_enabled_fences - returns bitmask of enabled fences uint8_t get_enabled_fences() const; /// pre_arm_check - returns true if all pre-takeoff checks have completed successfully bool pre_arm_check(const char* &fail_msg) const; /// /// methods to check we are within the boundaries and recover /// /// check - returns the fence type that has been breached (if any) uint8_t check(); // returns true if the destination is within fence (used to reject waypoints outside the fence) bool check_destination_within_fence(const Location& loc); /// get_breaches - returns bit mask of the fence types that have been breached uint8_t get_breaches() const { return _breached_fences; } /// get_breach_time - returns time the fence was breached uint32_t get_breach_time() const { return _breach_time; } /// get_breach_count - returns number of times we have breached the fence uint16_t get_breach_count() const { return _breach_count; } /// get_breach_distance - returns maximum distance in meters outside /// of the given fences. fence_type is a bitmask here. float get_breach_distance(uint8_t fence_type) const; /// get_action - getter for user requested action on limit breach uint8_t get_action() const { return _action.get(); } /// get_safe_alt - returns maximum safe altitude (i.e. alt_max - margin) float get_safe_alt_max() const { return _alt_max - _margin; } /// get_safe_alt_min - returns the minimum safe altitude (i.e. alt_min - margin) float get_safe_alt_min() const { return _alt_min + _margin; } /// get_radius - returns the fence radius in meters float get_radius() const { return _circle_radius.get(); } /// get_margin - returns the fence margin in meters float get_margin() const { return _margin.get(); } /// manual_recovery_start - caller indicates that pilot is re-taking manual control so fence should be disabled for 10 seconds /// should be called whenever the pilot changes the flight mode /// has no effect if no breaches have occurred void manual_recovery_start(); /// /// polygon related methods /// /// returns true if polygon fence is valid (i.e. has at least 3 sides) bool is_polygon_valid() const { return _boundary_valid; } /// returns pointer to array of polygon points and num_points is filled in with the total number /// points are offsets from EKF origin in NE frame Vector2f* get_boundary_points(uint16_t& num_points) const; /// returns true if we've breached the polygon boundary. simple passthrough to underlying _poly_loader object bool boundary_breached(const Vector2f& location, uint16_t num_points, const Vector2f* points) const; /// handler for polygon fence messages with GCS void handle_msg(GCS_MAVLINK &link, const mavlink_message_t &msg); /// return system time of last update to the boundary (allows external detection of boundary changes) uint32_t get_boundary_update_ms() const { return _boundary_update_ms; } static const struct AP_Param::GroupInfo var_info[]; // methods for mavlink SYS_STATUS message (send_sys_status) bool sys_status_present() const; bool sys_status_enabled() const; bool sys_status_failed() const; // get singleton instance static AC_Fence *get_singleton() { return _singleton; } private: static AC_Fence *_singleton; /// check_fence_alt_max - true if alt fence has been newly breached bool check_fence_alt_max(); /// check_fence_polygon - true if polygon fence has been newly breached bool check_fence_polygon(); /// check_fence_circle - true if circle fence has been newly breached bool check_fence_circle(); /// record_breach - update breach bitmask, time and count void record_breach(uint8_t fence_type); /// clear_breach - update breach bitmask, time and count void clear_breach(uint8_t fence_type); // additional checks for the different fence types: bool pre_arm_check_polygon(const char* &fail_msg) const; bool pre_arm_check_circle(const char* &fail_msg) const; bool pre_arm_check_alt(const char* &fail_msg) const; /// load polygon points stored in eeprom into boundary array and perform validation. returns true if load successfully completed bool load_polygon_from_eeprom(); // returns true if we have breached the fence: bool polygon_fence_is_breached(); // parameters AP_Int8 _enabled; // top level enable/disable control AP_Int8 _enabled_fences; // bit mask holding which fences are enabled AP_Int8 _action; // recovery action specified by user AP_Float _alt_max; // altitude upper limit in meters AP_Float _alt_min; // altitude lower limit in meters AP_Float _circle_radius; // circle fence radius in meters AP_Float _margin; // distance in meters that autopilot's should maintain from the fence to avoid a breach AP_Int8 _total; // number of polygon points saved in eeprom // backup fences float _alt_max_backup; // backup altitude upper limit in meters used to refire the breach if the vehicle continues to move further away float _circle_radius_backup; // backup circle fence radius in meters used to refire the breach if the vehicle continues to move further away // breach distances float _alt_max_breach_distance; // distance above the altitude max float _circle_breach_distance; // distance beyond the circular fence // other internal variables float _home_distance; // distance from home in meters (provided by main code) float _curr_alt; // breach information uint8_t _breached_fences; // bitmask holding the fence type that was breached (i.e. AC_FENCE_TYPE_ALT_MIN, AC_FENCE_TYPE_CIRCLE) uint32_t _breach_time; // time of last breach in milliseconds uint16_t _breach_count; // number of times we have breached the fence uint32_t _manual_recovery_start_ms; // system time in milliseconds that pilot re-took manual control // polygon fence variables AC_PolyFence_loader _poly_loader; // helper for loading/saving polygon points Vector2f *_boundary = nullptr; // array of boundary points. Note: point 0 is the return point uint8_t _boundary_num_points = 0; // number of points in the boundary array (should equal _total parameter after load has completed) bool _boundary_create_attempted = false; // true if we have attempted to create the boundary array bool _boundary_valid = false; // true if boundary forms a closed polygon uint32_t _boundary_update_ms; // system time of last update to the boundary }; namespace AP { AC_Fence *fence(); };