Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

AC_Avoidance: only stop below alt-fence if fence is enabled

Browse Source
This commit is contained in:
Randy Mackay 2017-03-06 18:01:48 +09:00
parent 3e039a6ba4
commit 7a7f8eb7c1
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AC_Avoidance/AC_Avoid.cpp
View File

@ -87,7 +87,7 @@ void AC_Avoid::adjust_velocity_z(float kP, float accel_cmss, float& climb_rate_c
float alt_diff_cm = 0.0f; // distance from altitude limit to vehicle in cm (positive means vehicle is below limit)
// calculate distance below fence
if ((_enabled & AC_AVOID_STOP_AT_FENCE) > 0) {
if ((_enabled & AC_AVOID_STOP_AT_FENCE) > 0 && (_fence.get_enabled_fences() & AC_FENCE_TYPE_ALT_MAX) > 0) {
// calculate distance from vehicle to safe altitude
float veh_alt = get_alt_above_home();
alt_diff_cm = _fence.get_safe_alt_max() * 100.0f - veh_alt;