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AC_Fence: fixed fence count for old upload

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when uploading a fence that is smaller than an old fence we were not
correctly setting the inclusion fence size.
This commit is contained in:
Andrew Tridgell 2021-11-30 13:47:16 +11:00 committed by Randy Mackay
parent 0a8bd53f5e
commit 50c14e62cf
1 changed files with 12 additions and 5 deletions
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17
libraries/AC_Fence/AC_PolyFence_loader.cpp
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@ -1535,11 +1535,18 @@ void AC_PolyFence_loader::handle_msg_fence_point(GCS_MAVLINK &link, const mavlin
return; return;
} }
} else if (packet.idx == _total-1) { } else if (packet.idx == _total-1) {
// this is the fence closing point; don't store it, and don't /* this is the fence closing point. We use this to set the vertex
// check it against the first point in the fence as we may be count of the inclusion fence
// receiving the fence points out of order. Note that if the */
// GCS attempts to read this back before sending the first const FenceIndex *inclusion_fence = get_or_create_include_fence();
// point they will get 0s. if (inclusion_fence == nullptr) {
return;
}
// write type and length
fence_storage.write_uint8(inclusion_fence->storage_offset, uint8_t(AC_PolyFenceType::POLYGON_INCLUSION));
fence_storage.write_uint8(inclusion_fence->storage_offset+1, packet.idx-1);
// and write end of storage marker
fence_storage.write_uint8(inclusion_fence->storage_offset+2+(packet.idx-1)*8, uint8_t(AC_PolyFenceType::END_OF_STORAGE));
} else { } else {
const FenceIndex *inclusion_fence = get_or_create_include_fence(); const FenceIndex *inclusion_fence = get_or_create_include_fence();
if (inclusion_fence == nullptr) { if (inclusion_fence == nullptr) {