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AC_Fence: fixed pre-arm check for polygon fences 

for polygon fences we need to check if the vehicle has a position and
is inside the polygon
This commit is contained in:
Andrew Tridgell 2024-11-25 13:55:07 +11:00
parent 1dce0076e6
commit 5ea3f83e19
1 changed files with 13 additions and 1 deletions
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14
libraries/AC_Fence/AC_Fence.cpp
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@ -470,8 +470,20 @@ bool AC_Fence::pre_arm_check(char *failure_msg, const uint8_t failure_msg_len) c
return false;
}
auto breached_fences = _breached_fences;
if (auto_enabled() == AC_Fence::AutoEnable::ONLY_WHEN_ARMED) {
Location loc;
if (!AP::ahrs().get_location(loc)) {
hal.util->snprintf(failure_msg, failure_msg_len, "Fence requires position");
return false;
}
if (_poly_loader.breached(loc)) {
breached_fences |= AC_FENCE_TYPE_POLYGON;
}
}
// check no limits are currently breached
if (_breached_fences) {
if (breached_fences) {
char msg[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1];
ExpandingString e(msg, MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1);
AC_Fence::get_fence_names(_breached_fences, e);