From 63de7d6330400f557cfcabc89c68b8fc528ab4cf Mon Sep 17 00:00:00 2001
From: SPDonaghy <118148642+SPDonaghy@users.noreply.github.com>
Date: Sun, 10 Dec 2023 09:58:56 -0800
Subject: [PATCH] added gps_threshold param

---
 src/global_launch/config/README.md    | 6 ++++++
 src/global_launch/config/globals.yaml | 1 +
 2 files changed, 7 insertions(+)

diff --git a/src/global_launch/config/README.md b/src/global_launch/config/README.md
index f93a286c4..986c29237 100644
--- a/src/global_launch/config/README.md
+++ b/src/global_launch/config/README.md
@@ -52,6 +52,12 @@ ROS parameters specific to the nodes in the local_pathfinding package.
 - _Datatype_: `boolean`
 - _Acceptable Values_: `true`, `false`
 
+**`gps_threshold`**
+
+- _Description_: A new path will be generated if the GPS position changed by more than this amount in km.
+- _Datatype_: `double`
+- _Acceptable Values_: `(0.0, MAX_DOUBLE)`
+
 ## Boat Simulator Parameters
 
 ROS parameters specific to the nodes in the boat simulator.
diff --git a/src/global_launch/config/globals.yaml b/src/global_launch/config/globals.yaml
index 01149baf7..62c87fbb1 100644
--- a/src/global_launch/config/globals.yaml
+++ b/src/global_launch/config/globals.yaml
@@ -10,6 +10,7 @@ mgp_main:
       global_path_filepath: "/workspaces/sailbot_workspace/src/local_pathfinding/global_paths/mock_global_path.csv"
       interval_spacing: 30.0
       write: false
+      gps_threshold: 20.0
 
 # boat_simulator parameters
 low_level_control_node: