From 05fda4ee4c342aab0b2cdc126be2975046398152 Mon Sep 17 00:00:00 2001 From: Jonathan Challinger Date: Mon, 13 Apr 2015 15:09:28 -0700 Subject: [PATCH] AC_Fence: accept curr_alt parameter instead of getting alt from inav --- libraries/AC_Fence/AC_Fence.cpp | 5 +---- libraries/AC_Fence/AC_Fence.h | 2 +- 2 files changed, 2 insertions(+), 5 deletions(-) diff --git a/libraries/AC_Fence/AC_Fence.cpp b/libraries/AC_Fence/AC_Fence.cpp index 4e3c5371f7..b63f72199b 100644 --- a/libraries/AC_Fence/AC_Fence.cpp +++ b/libraries/AC_Fence/AC_Fence.cpp @@ -111,7 +111,7 @@ bool AC_Fence::pre_arm_check() const } /// check_fence - returns the fence type that has been breached (if any) -uint8_t AC_Fence::check_fence() +uint8_t AC_Fence::check_fence(float curr_alt) { uint8_t ret = AC_FENCE_TYPE_NONE; @@ -131,9 +131,6 @@ uint8_t AC_Fence::check_fence() } } - // get current altitude in meters - float curr_alt = _inav.get_altitude() * 0.01f; - // altitude fence check if ((_enabled_fences & AC_FENCE_TYPE_ALT_MAX) != 0) { diff --git a/libraries/AC_Fence/AC_Fence.h b/libraries/AC_Fence/AC_Fence.h index d120643ddb..41107ab3f1 100644 --- a/libraries/AC_Fence/AC_Fence.h +++ b/libraries/AC_Fence/AC_Fence.h @@ -52,7 +52,7 @@ public: /// /// check_fence - returns the fence type that has been breached (if any) - uint8_t check_fence(); + uint8_t check_fence(float curr_alt); /// get_breaches - returns bit mask of the fence types that have been breached uint8_t get_breaches() const { return _breached_fences; }