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AP_Beacon: do not include fence closing/duplicate point in polygon boundary

This commit is contained in:
Peter Barker 2019-05-24 14:42:42 +10:00 committed by Peter Barker
parent de9fa4c730
commit da81c5fe39
1 changed files with 4 additions and 2 deletions
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6
libraries/AP_Beacon/AP_Beacon.cpp
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@ -295,8 +295,10 @@ void AP_Beacon::update_boundary_points()
}
// if duplicate is found, remove all boundary points before the duplicate because they are inner points
if (dup_found) {
uint8_t num_pts = curr_boundary_idx - dup_idx + 1;
if (num_pts > AP_BEACON_MINIMUM_FENCE_BEACONS) {
// note that the closing/duplicate point is not
// included in the boundary points.
const uint8_t num_pts = curr_boundary_idx - dup_idx;
if (num_pts >= AP_BEACON_MINIMUM_FENCE_BEACONS) { // we consider three points to be a polygon
// success, copy boundary points to boundary array and convert meters to cm
for (uint8_t j = 0; j < num_pts; j++) {
boundary[j] = boundary_points[j+dup_idx] * 100.0f;