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Copter: change altitude fence to work on home altitudes instead of origin altitudes

This commit is contained in:
Jonathan Challinger 2015-04-13 15:11:49 -07:00 committed by Randy Mackay
parent 05fda4ee4c
commit be8c118b63
2 changed files with 2 additions and 2 deletions
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2
ArduCopter/control_rtl.pde
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@ -401,7 +401,7 @@ static float get_RTL_alt()
#if AC_FENCE == ENABLED
// ensure not above fence altitude if alt fence is enabled
if ((fence.get_enabled_fences() & AC_FENCE_TYPE_ALT_MAX) != 0) {
rtl_alt = min(rtl_alt, fence.get_safe_alt()*100.0f);
rtl_alt = min(rtl_alt, pv_alt_above_origin(fence.get_safe_alt()*100.0f));
}
#endif

2
ArduCopter/fence.pde
View File

@ -20,7 +20,7 @@ void fence_check()
fence.set_home_distance(home_distance*0.01f);
// check for a breach
new_breaches = fence.check_fence();
new_breaches = fence.check_fence(pv_alt_above_home(inertial_nav.get_altitude()));
// if there is a new breach take action
if( new_breaches != AC_FENCE_TYPE_NONE ) {