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AC_Fence: accept curr_alt parameter instead of getting alt from inav

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Jonathan Challinger 2015-04-13 15:09:28 -07:00 committed by Randy Mackay
parent 0f9e50d61c
commit 05fda4ee4c
2 changed files with 2 additions and 5 deletions
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5
libraries/AC_Fence/AC_Fence.cpp
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@ -111,7 +111,7 @@ bool AC_Fence::pre_arm_check() const
} }
/// check_fence - returns the fence type that has been breached (if any) /// 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; 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 // altitude fence check
if ((_enabled_fences & AC_FENCE_TYPE_ALT_MAX) != 0) { if ((_enabled_fences & AC_FENCE_TYPE_ALT_MAX) != 0) {

2
libraries/AC_Fence/AC_Fence.h
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@ -52,7 +52,7 @@ public:
/// ///
/// check_fence - returns the fence type that has been breached (if any) /// 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 /// get_breaches - returns bit mask of the fence types that have been breached
uint8_t get_breaches() const { return _breached_fences; } uint8_t get_breaches() const { return _breached_fences; }