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Copter: Fence missing GPS 3D fix check

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Fence was missing GPS 3D fix check before selecting recovery decision.
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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
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2
ArduCopter/fence.pde
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@ -36,7 +36,7 @@ void fence_check()
init_disarm_motors(); init_disarm_motors();
}else{ }else{
// if we have a GPS // 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 we are within 100m of the fence, RTL
if( fence.get_breach_distance(new_breaches) <= AC_FENCE_GIVE_UP_DISTANCE) { if( fence.get_breach_distance(new_breaches) <= AC_FENCE_GIVE_UP_DISTANCE) {
if(control_mode != RTL) { if(control_mode != RTL) {