AC_Fence: add interface for retrieving exclusion polygons
AC_Fence: add interface to get exlusion polygons to polyfence loader
AC_Fence: add suport for inclusion circles
AC_Fence: add option for compiling-out FENCE_POINT protocol support
AC_Fence: get_exclusion_polygon and get_boundary_points set num_points to zero on failure
AC_Fence: use Debug(...) to hide debug messages
AC_PolyFence_loader: add methods to retrieve all inclusion zones
AC_PolyFence_loader: valid simply returns true if a polygon boundary can be returned
AC_Fence: add get_exclusion_circle
AC_Fence: add get_exclusion_circle_update_ms accessor
AC_Fence: PolyFence_loader gets inclusion circle accessors
AC_PolyFence_loader: add and use semaphore to protect loaded fence
AC_Fence: move fence breach check below fence type checks
This allows us to provide more information to the user about why they
are breached.
For example, if the radius is negative you are considered in breach of
it - but we'd tell you you were breached, not that your radius was
invalid
AC_Fence: clear the fence if we discover the user has set the fence count to zero
There's only one caller to this, who didn't force loading - so remove
the unused parameter.
Also remove the _boundary_loaded boolean; it was only set to true in one
place - just before the sole caller called the function!
See discussion here:
https://github.com/ArduPilot/ardupilot/issues/7331
we were getting some uninitialised variables. While it only showed up in
AP_SbusOut, it means we can't be sure it won't happen on other objects,
so safest to remove the approach
Thanks to assistance from Lucas, Peter and Francisco
RC_Channel: To nullptr from NULL.
AC_Fence: To nullptr from NULL.
AC_Avoidance: To nullptr from NULL.
AC_PrecLand: To nullptr from NULL.
DataFlash: To nullptr from NULL.
SITL: To nullptr from NULL.
GCS_MAVLink: To nullptr from NULL.
DataFlash: To nullptr from NULL.
AP_Compass: To nullptr from NULL.
Global: To nullptr from NULL.
Global: To nullptr from NULL.
This commit changes the way libraries headers are included in source files:
- If the header is in the same directory the source belongs to, so the
notation '#include ""' is used with the path relative to the directory
containing the source.
- If the header is outside the directory containing the source, then we use
the notation '#include <>' with the path relative to libraries folder.
Some of the advantages of such approach:
- Only one search path for libraries headers.
- OSs like Windows may have a better lookup time.
This resolves issue #461 by giving the pilot a minimum of 10 seconds to
attempt to manually recover before the autopilot will attempt to retake
control to bring the copter home or land.
Peter Barker
Pierre Kancir
Randy Mackay
chobitsfan
Raouf
Andrew Tridgell
khancyr
Lucas De Marchi
Jacob Walser
murata
Mathieu OTHACEHE
Daniel Ricketts
Saloni Jain
Gustavo Jose de Sousa
Jonathan Challinger
Tobias