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AC_Avoidance: fix BendyRuler when outside polygon fence

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This commit is contained in:
Randy Mackay 2019-06-12 11:29:03 +09:00
parent de5ace24fd
commit cceab9c88f
1 changed files with 4 additions and 1 deletions
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libraries/AC_Avoidance/AP_OABendyRuler.cpp
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@ -216,8 +216,11 @@ bool AP_OABendyRuler::calc_margin_from_polygon_fence(const Location &start, cons
return false;
}
// if outside the fence margin is the closest distance but with negative sign
const float sign = Polygon_outside(start_NE, boundary, num_points) ? -1.0f : 1.0f;
// calculate min distance (in meters) from line to polygon
margin = Polygon_closest_distance_line(boundary, num_points, start_NE, end_NE) * 0.01f;
margin = sign * Polygon_closest_distance_line(boundary, num_points, start_NE, end_NE) * 0.01f;
return true;
}