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AC_Fence: clear breach of disabled fence 

skip breach checks if no fences
correct initialisation of _num_fences in the case of no fences in eeprom
This commit is contained in:
Peter Barker 2024-05-19 17:39:50 +10:00 committed by Peter Barker
parent 3fabec4158
commit a4c7819117
2 changed files with 6 additions and 3 deletions
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1
libraries/AC_Fence/AC_Fence.cpp
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@ -635,6 +635,7 @@ bool AC_Fence::check_fence_polygon()
{
if (!(get_enabled_fences() & AC_FENCE_TYPE_POLYGON)) {
// not enabled; no breach
clear_breach(AC_FENCE_TYPE_POLYGON);
return false;
}

8
libraries/AC_Fence/AC_PolyFence_loader.cpp
View File

@ -227,7 +227,7 @@ bool AC_PolyFence_loader::breached() const
// returns true if location is outside the boundary
bool AC_PolyFence_loader::breached(const Location& loc) const
{
if (!loaded()) {
if (!loaded() || total_fence_count() == 0) {
return false;
}
@ -493,13 +493,15 @@ bool AC_PolyFence_loader::index_eeprom()
if (!count_eeprom_fences()) {
return false;
}
void_index();
if (_eeprom_fence_count == 0) {
_num_fences = 0;
_load_attempted = false;
return true;
}
void_index();
Debug("Fence: Allocating %u bytes for index",
(unsigned)(_eeprom_fence_count*sizeof(FenceIndex)));
_index = NEW_NOTHROW FenceIndex[_eeprom_fence_count];