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AC_Fence: reset fences breach on disable

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Also rename enable function parameter
This commit is contained in:
khancyr 2017-07-20 18:42:28 +02:00 committed by Andrew Tridgell
parent c25bd13b78
commit 93fdbf1573
2 changed files with 9 additions and 1 deletions
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8
libraries/AC_Fence/AC_Fence.cpp
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@ -97,6 +97,14 @@ AC_Fence::AC_Fence(const AP_AHRS& ahrs, const AP_InertialNav& inav) :
} }
} }
void AC_Fence::enable(bool value)
{
_enabled = value;
if (!value) {
clear_breach(AC_FENCE_TYPE_ALT_MAX | AC_FENCE_TYPE_CIRCLE | AC_FENCE_TYPE_POLYGON);
}
}
/// get_enabled_fences - returns bitmask of enabled fences /// get_enabled_fences - returns bitmask of enabled fences
uint8_t AC_Fence::get_enabled_fences() const uint8_t AC_Fence::get_enabled_fences() const
{ {

2
libraries/AC_Fence/AC_Fence.h
View File

@ -40,7 +40,7 @@ public:
AC_Fence(const AP_AHRS& ahrs, const AP_InertialNav& inav); AC_Fence(const AP_AHRS& ahrs, const AP_InertialNav& inav);
/// enable - allows fence to be enabled/disabled. Note: this does not update the eeprom saved value /// enable - allows fence to be enabled/disabled. Note: this does not update the eeprom saved value
void enable(bool true_false) { _enabled = true_false; } void enable(bool value);
/// enabled - returns true if fence is enabled /// enabled - returns true if fence is enabled
bool enabled() const { return _enabled; } bool enabled() const { return _enabled; }