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AP_Fence: adjust for Location_Class and Location unification

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Peter Barker 2019-01-02 13:54:09 +11:00 committed by Peter Barker
parent 57804e3118
commit 9deee2a805
2 changed files with 3 additions and 3 deletions
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4
libraries/AC_Fence/AC_Fence.cpp
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@ -359,12 +359,12 @@ uint8_t AC_Fence::check()
}
// returns true if the destination is within fence (used to reject waypoints outside the fence)
bool AC_Fence::check_destination_within_fence(const Location_Class& loc)
bool AC_Fence::check_destination_within_fence(const Location& loc)
{
// Altitude fence check
if ((get_enabled_fences() & AC_FENCE_TYPE_ALT_MAX)) {
int32_t alt_above_home_cm;
if (loc.get_alt_cm(Location_Class::ALT_FRAME_ABOVE_HOME, alt_above_home_cm)) {
if (loc.get_alt_cm(Location::ALT_FRAME_ABOVE_HOME, alt_above_home_cm)) {
if ((alt_above_home_cm * 0.01f) > _alt_max) {
return false;
}

2
libraries/AC_Fence/AC_Fence.h
View File

@ -59,7 +59,7 @@ public:
uint8_t check();
// returns true if the destination is within fence (used to reject waypoints outside the fence)
bool check_destination_within_fence(const Location_Class& loc);
bool check_destination_within_fence(const Location& loc);
/// get_breaches - returns bit mask of the fence types that have been breached
uint8_t get_breaches() const { return _breached_fences; }