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AC_Avoidance: cope with polyfence holding boundary points

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Peter Barker 2019-05-29 23:31:14 +10:00 committed by Randy Mackay
parent 74aed5aef8
commit 3a7f1b882e
1 changed files with 1 additions and 1 deletions
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libraries/AC_Avoidance/AC_Avoid.cpp
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@ -399,7 +399,7 @@ void AC_Avoid::adjust_velocity_polygon_fence(float kP, float accel_cmss, Vector2
// get polygon boundary // get polygon boundary
uint16_t num_points; uint16_t num_points;
const Vector2f* boundary = _fence.get_boundary_points(num_points); const Vector2f* boundary = _fence.polyfence().get_boundary_points(num_points);
// adjust velocity using polygon // adjust velocity using polygon
adjust_velocity_polygon(kP, accel_cmss, desired_vel_cms, boundary, num_points, true, _fence.get_margin(), dt); adjust_velocity_polygon(kP, accel_cmss, desired_vel_cms, boundary, num_points, true, _fence.get_margin(), dt);