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AC_Fence: clear breach if breached fence is not enabled

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Rishabh 2020-03-26 19:01:00 +05:30 committed by Randy Mackay
parent 7f429302ed
commit b3a2b360e6
1 changed files with 3 additions and 0 deletions
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3
libraries/AC_Fence/AC_Fence.cpp
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@ -323,6 +323,9 @@ uint8_t AC_Fence::check()
return 0; return 0;
} }
// clear any breach from a non-enabled fence
clear_breach(~_enabled_fences);
// check if pilot is attempting to recover manually // check if pilot is attempting to recover manually
if (_manual_recovery_start_ms != 0) { if (_manual_recovery_start_ms != 0) {
// we ignore any fence breaches during the manual recovery period which is about 10 seconds // we ignore any fence breaches during the manual recovery period which is about 10 seconds