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Sub: stop setting home distance in fence

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Peter Barker 2017-12-14 15:40:34 +11:00 committed by Francisco Ferreira
parent 4dcb5aa3de
commit 268b8799d0
1 changed files with 0 additions and 7 deletions
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7
ArduSub/fence.cpp
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@ -11,13 +11,6 @@ void Sub::fence_check()
uint8_t new_breaches; // the type of fence that has been breached uint8_t new_breaches; // the type of fence that has been breached
uint8_t orig_breaches = fence.get_breaches(); uint8_t orig_breaches = fence.get_breaches();
Vector3f home = pv_location_to_vector(ahrs.get_home());
Vector3f curr = inertial_nav.get_position();
int32_t home_distance = get_horizontal_distance_cm(curr, home);
// give fence library our current distance from home in meters
fence.set_home_distance(home_distance*0.01f);
// check for a breach // check for a breach
new_breaches = fence.check_fence(current_loc.alt/100.0f); new_breaches = fence.check_fence(current_loc.alt/100.0f);