mirror of https://github.com/ArduPilot/ardupilot
Sub: stop setting home distance in fence
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@ -11,13 +11,6 @@ void Sub::fence_check()
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uint8_t new_breaches; // the type of fence that has been breached
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uint8_t orig_breaches = fence.get_breaches();
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Vector3f home = pv_location_to_vector(ahrs.get_home());
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Vector3f curr = inertial_nav.get_position();
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int32_t home_distance = get_horizontal_distance_cm(curr, home);
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// give fence library our current distance from home in meters
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fence.set_home_distance(home_distance*0.01f);
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// check for a breach
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new_breaches = fence.check_fence(current_loc.alt/100.0f);
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