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AC_Avoidance: Dijkstra skips calcs if current loc is same as destination

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This commit is contained in:
Randy Mackay 2019-07-24 14:42:22 +09:00
parent bed21b43e1
commit 452be5fd94
1 changed files with 5 additions and 0 deletions
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libraries/AC_Avoidance/AP_OADijkstra.cpp
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@ -47,6 +47,11 @@ AP_OADijkstra::AP_OADijkstra_State AP_OADijkstra::update(const Location &current
return DIJKSTRA_STATE_NOT_REQUIRED;
}
// no avoidance required if destination is same as current location
if (current_loc.same_latlon_as(destination)) {
return DIJKSTRA_STATE_NOT_REQUIRED;
}
// check for fence updates
if (check_polygon_fence_updated()) {
_polyfence_with_margin_ok = false;