Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-08 17:08:28 -04:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
libraries/AP_Beacon/AP_Beacon.cpp
View File

@ -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 duplicate is found, remove all boundary points before the duplicate because they are inner points
if (dup_found) { if (dup_found) {
uint8_t num_pts = curr_boundary_idx - dup_idx + 1; // note that the closing/duplicate point is not
if (num_pts > AP_BEACON_MINIMUM_FENCE_BEACONS) { // 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 // success, copy boundary points to boundary array and convert meters to cm
for (uint8_t j = 0; j < num_pts; j++) { for (uint8_t j = 0; j < num_pts; j++) {
boundary[j] = boundary_points[j+dup_idx] * 100.0f; boundary[j] = boundary_points[j+dup_idx] * 100.0f;