Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
libraries/AC_Fence/AC_Fence.cpp
View File

@ -635,6 +635,7 @@ bool AC_Fence::check_fence_polygon()
{ {
if (!(get_enabled_fences() & AC_FENCE_TYPE_POLYGON)) { if (!(get_enabled_fences() & AC_FENCE_TYPE_POLYGON)) {
// not enabled; no breach // not enabled; no breach
clear_breach(AC_FENCE_TYPE_POLYGON);
return false; 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 // returns true if location is outside the boundary
bool AC_PolyFence_loader::breached(const Location& loc) const bool AC_PolyFence_loader::breached(const Location& loc) const
{ {
if (!loaded()) { if (!loaded() || total_fence_count() == 0) {
return false; return false;
} }
@ -493,13 +493,15 @@ bool AC_PolyFence_loader::index_eeprom()
if (!count_eeprom_fences()) { if (!count_eeprom_fences()) {
return false; return false;
} }
void_index();
if (_eeprom_fence_count == 0) { if (_eeprom_fence_count == 0) {
_num_fences = 0;
_load_attempted = false; _load_attempted = false;
return true; return true;
} }
void_index();
Debug("Fence: Allocating %u bytes for index", Debug("Fence: Allocating %u bytes for index",
(unsigned)(_eeprom_fence_count*sizeof(FenceIndex))); (unsigned)(_eeprom_fence_count*sizeof(FenceIndex)));
_index = NEW_NOTHROW FenceIndex[_eeprom_fence_count]; _index = NEW_NOTHROW FenceIndex[_eeprom_fence_count];