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AC_Avoid: call Polygon_outside directly; avoids losing first point

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Peter Barker 2019-05-22 17:20:22 +10:00 committed by Peter Barker
parent 4be3a48275
commit de9fa4c730
1 changed files with 1 additions and 8 deletions
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9
libraries/AC_Avoidance/AC_Avoid.cpp
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@ -362,7 +362,6 @@ void AC_Avoid::adjust_velocity_polygon_fence(float kP, float accel_cmss, Vector2
}
// get polygon boundary
// Note: first point in list is the return-point (which copter does not use)
uint16_t num_points;
const Vector2f* boundary = _fence.get_boundary_points(num_points);
@ -453,13 +452,7 @@ void AC_Avoid::adjust_velocity_polygon(float kP, float accel_cmss, Vector2f &des
position_xy = position_xy * 100.0f; // m to cm
}
AC_Fence *fence = AP::fence();
if (fence == nullptr) {
return;
}
AC_Fence &_fence = *fence;
if (_fence.boundary_breached(position_xy, num_points, boundary)) {
if (Polygon_outside(position_xy, boundary, num_points)) {
return;
}