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AP_Proximity: stop passing through old fence contains_return_point parameter

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Peter Barker 2019-02-04 17:18:51 +11:00 committed by Randy Mackay
parent 5448cfda80
commit 19d8ffb4e4
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_Proximity/AP_Proximity_SITL.cpp
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@ -51,7 +51,7 @@ void AP_Proximity_SITL::update(void)
current_loc.lat = sitl->state.latitude * 1.0e7; current_loc.lat = sitl->state.latitude * 1.0e7;
current_loc.lng = sitl->state.longitude * 1.0e7; current_loc.lng = sitl->state.longitude * 1.0e7;
current_loc.alt = sitl->state.altitude * 1.0e2; current_loc.alt = sitl->state.altitude * 1.0e2;
if (fence && fence_loader.boundary_valid(fence_count->get(), fence, true)) { if (fence && fence_loader.boundary_valid(fence_count->get(), fence)) {
// update distance in one sector // update distance in one sector
if (get_distance_to_fence(_sector_middle_deg[last_sector], _distance[last_sector])) { if (get_distance_to_fence(_sector_middle_deg[last_sector], _distance[last_sector])) {
set_status(AP_Proximity::Proximity_Good); set_status(AP_Proximity::Proximity_Good);
@ -92,7 +92,7 @@ void AP_Proximity_SITL::load_fence(void)
// get distance in meters to fence in a particular direction in degrees (0 is forward, angles increase in the clockwise direction) // get distance in meters to fence in a particular direction in degrees (0 is forward, angles increase in the clockwise direction)
bool AP_Proximity_SITL::get_distance_to_fence(float angle_deg, float &distance) const bool AP_Proximity_SITL::get_distance_to_fence(float angle_deg, float &distance) const
{ {
if (!fence_loader.boundary_valid(fence_count->get(), fence, true)) { if (!fence_loader.boundary_valid(fence_count->get(), fence)) {
return false; return false;
} }
@ -109,7 +109,7 @@ bool AP_Proximity_SITL::get_distance_to_fence(float angle_deg, float &distance)
Location loc = current_loc; Location loc = current_loc;
location_update(loc, angle_deg, test_dist); location_update(loc, angle_deg, test_dist);
Vector2l vecloc(loc.lat, loc.lng); Vector2l vecloc(loc.lat, loc.lng);
if (fence_loader.boundary_breached(vecloc, fence_count->get(), fence, true)) { if (fence_loader.boundary_breached(vecloc, fence_count->get(), fence)) {
max_dist = test_dist; max_dist = test_dist;
} else { } else {
min_dist = test_dist; min_dist = test_dist;