AC_Fence: clear breach if breached fence is not enabled

2020-03-26 19:01:00 +05:30 · 2020-03-26 19:01:00 +05:30 · b3a2b360e6
parent 7f429302ed
commit b3a2b360e6
1 changed files with 3 additions and 0 deletions
--- a/libraries/AC_Fence/AC_Fence.cpp
+++ b/libraries/AC_Fence/AC_Fence.cpp
@ -323,6 +323,9 @@ uint8_t AC_Fence::check()
        return 0;
    }

+    // clear any breach from a non-enabled fence
+    clear_breach(~_enabled_fences);
+
    // check if pilot is attempting to recover manually
    if (_manual_recovery_start_ms != 0) {
        // we ignore any fence breaches during the manual recovery period which is about 10 seconds