Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AC_Fence: get_polygon_points does not include return point

This commit is contained in:
Randy Mackay 2018-10-24 17:46:13 +09:00
parent 7aae970ae7
commit 06aa29eb2a
1 changed files with 6 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
libraries/AC_Fence/AC_Fence.cpp
View File

@ -449,8 +449,12 @@ void AC_Fence::manual_recovery_start()
/// returns pointer to array of polygon points and num_points is filled in with the total number
Vector2f* AC_Fence::get_polygon_points(uint16_t& num_points) const
{
num_points = _boundary_num_points;
return _boundary;
// return array minus the first point which holds the return location
num_points = (_boundary_num_points <= 1) ? 0 : _boundary_num_points - 1;
if ((_boundary == nullptr) || (num_points == 0)) {
return nullptr;
}
return &_boundary[1];
}
/// returns true if we've breached the polygon boundary. simple passthrough to underlying _poly_loader object