Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-01 21:48:28 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: Fence missing GPS 3D fix check

Browse Source 
Fence was missing GPS 3D fix check before selecting recovery decision.
This commit is contained in:
Olivier-ADLER 2013-06-16 00:48:48 +02:00 committed by Randy Mackay
parent facd8fc89f
commit 24e1f074d0
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduCopter/fence.pde
View File

@ -36,7 +36,7 @@ void fence_check()
init_disarm_motors();
}else{
// if we have a GPS
if( ap.home_is_set ) {
if( ap.home_is_set && g_gps->status() == GPS::GPS_OK_FIX_3D ) {
// if we are within 100m of the fence, RTL
if( fence.get_breach_distance(new_breaches) <= AC_FENCE_GIVE_UP_DISTANCE) {
if(control_mode != RTL) {