Function check_failsafe

Modules/control/src/px4_pos_controller.cpp:443–455

}

int check_failsafe()
{
    if (_DroneState.position[0] < geo_fence_x[0] || _DroneState.position[0] > geo_fence_x[1] ||
        _DroneState.position[1] < geo_fence_y[0] || _DroneState.position[1] > geo_fence_y[1] ||
        _DroneState.position[2] < geo_fence_z[0] || _DroneState.position[2] > geo_fence_z[1])
    {
        pub_message(message_pub, prometheus_msgs::Message::ERROR, NODE_NAME, "Out of the geo fence, the drone is landing...");
        return 1;
    }
    else{
        return 0;
    }
}


//【Body_to_ENU】 机体系移动。