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AC_Fence: stop looking at EKF filter status

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Fence has no business looking at what the filter status is.

Fence should only care whether it can currently get a position.
This commit is contained in:
Peter Barker 2017-12-08 10:25:52 +11:00 committed by Randy Mackay
parent 65373b85f0
commit 518399c13a
1 changed files with 9 additions and 9 deletions
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18
libraries/AC_Fence/AC_Fence.cpp
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@ -130,15 +130,15 @@ bool AC_Fence::pre_arm_check(const char* &fail_msg) const
return false;
}
// if we have horizontal limits enabled, check inertial nav position is ok
nav_filter_status filt_status;
if (!_ahrs.get_filter_status(filt_status)) {
fail_msg = "AHRS status not available";
return false;
}
if ((_enabled_fences & (AC_FENCE_TYPE_CIRCLE | AC_FENCE_TYPE_POLYGON))>0 && !filt_status.flags.horiz_pos_abs && !filt_status.flags.pred_horiz_pos_abs) {
fail_msg = "fence requires position";
return false;
// if we have horizontal limits enabled, check we can get a
// relative position from the EKF
if ((_enabled_fences & AC_FENCE_TYPE_CIRCLE) ||
(_enabled_fences & AC_FENCE_TYPE_POLYGON)) {
Vector2f position;
if (!_ahrs.get_relative_position_NE_origin(position)) {
fail_msg = "fence requires position";
return false;
}
}
// if we got this far everything must be ok