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AC_Fence: trigger reloading of polygon fence if update from GCS 

The GCS can either modify a point with a mavlink message or directly change the FENCE_TOTAL parameter value
This commit is contained in:
Randy Mackay 2016-07-02 17:13:05 +09:00
parent 0eac5a5c8f
commit a9d1dcd6ac
1 changed files with 7 additions and 0 deletions
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7
libraries/AC_Fence/AC_Fence.cpp
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@ -202,6 +202,10 @@ uint8_t AC_Fence::check_fence(float curr_alt)
// polygon fence check
if ((_enabled_fences & AC_FENCE_TYPE_POLYGON) != 0 ) {
// check consistency of number of points
if (_boundary_num_points != _total) {
_boundary_loaded = false;
}
// load fence if necessary
if (!_boundary_loaded) {
load_polygon_from_eeprom();
@ -338,6 +342,9 @@ void AC_Fence::handle_msg(mavlink_channel_t chan, mavlink_message_t* msg)
point.y = packet.lng*1.0e7f;
if (!_poly_loader.save_point_to_eeprom(packet.idx, point)) {
GCS_MAVLINK::send_statustext_chan(MAV_SEVERITY_WARNING, chan, "Failed to save polygon point, too many points?");
} else {
// trigger reload of points
_boundary_loaded = false;
}
}
break;