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Sub: remove argument to check()

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Also, fence_check was renamed to check()
This commit is contained in:
Peter Barker 2017-12-15 20:57:18 +11:00 committed by Francisco Ferreira
parent cb129fbdaf
commit ed82421f27
1 changed files with 9 additions and 12 deletions
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19
ArduSub/fence.cpp
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@ -8,19 +8,18 @@
// called at 1hz // called at 1hz
void Sub::fence_check() void Sub::fence_check()
{ {
uint8_t new_breaches; // the type of fence that has been breached // ignore any fence activity when not armed
uint8_t orig_breaches = fence.get_breaches();
// check for a breach
new_breaches = fence.check_fence(current_loc.alt/100.0f);
// return immediately if motors are not armed
if (!motors.armed()) { if (!motors.armed()) {
return; return;
} }
const uint8_t orig_breaches = fence.get_breaches();
// check for new breaches; new_breaches is bitmask of fence types breached
const uint8_t new_breaches = fence.check();
// if there is a new breach take action // if there is a new breach take action
if (new_breaches != AC_FENCE_TYPE_NONE) { if (new_breaches) {
// if the user wants some kind of response and motors are armed // if the user wants some kind of response and motors are armed
if (fence.get_action() != AC_FENCE_ACTION_REPORT_ONLY) { if (fence.get_action() != AC_FENCE_ACTION_REPORT_ONLY) {
@ -44,10 +43,8 @@ void Sub::fence_check()
// log an error in the dataflash // log an error in the dataflash
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_FENCE, new_breaches); Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_FENCE, new_breaches);
} } else if (orig_breaches) {
// record clearing of breach // record clearing of breach
if (orig_breaches != AC_FENCE_TYPE_NONE && fence.get_breaches() == AC_FENCE_TYPE_NONE) {
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_FENCE, ERROR_CODE_ERROR_RESOLVED); Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_FENCE, ERROR_CODE_ERROR_RESOLVED);
} }
} }