From ef28be9ce8c3706e352fd3570ad3f88b0d46ffe1 Mon Sep 17 00:00:00 2001
From: Francisco Ferreira <francisco-ferreira@mail.telepac.pt>
Date: Tue, 19 Jul 2016 23:40:22 +0100
Subject: [PATCH] AP_Rally: add is_valid method

method will be used in Copter to check if a rally point is inside fence
---
 libraries/AP_Rally/AP_Rally.cpp | 2 +-
 libraries/AP_Rally/AP_Rally.h   | 2 ++
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_Rally/AP_Rally.cpp b/libraries/AP_Rally/AP_Rally.cpp
index 8b20f69c24..a810ab9348 100644
--- a/libraries/AP_Rally/AP_Rally.cpp
+++ b/libraries/AP_Rally/AP_Rally.cpp
@@ -132,7 +132,7 @@ bool AP_Rally::find_nearest_rally_point(const Location &current_loc, RallyLocati
         Location rally_loc = rally_location_to_location(next_rally);
         float dis = get_distance(current_loc, rally_loc);
 
-        if (dis < min_dis || min_dis < 0) {
+        if (is_valid(rally_loc) && (dis < min_dis || min_dis < 0)) {
             min_dis = dis;
             return_loc = next_rally;
         }
diff --git a/libraries/AP_Rally/AP_Rally.h b/libraries/AP_Rally/AP_Rally.h
index adf9b2900c..20b6f4a002 100644
--- a/libraries/AP_Rally/AP_Rally.h
+++ b/libraries/AP_Rally/AP_Rally.h
@@ -62,6 +62,8 @@ public:
     static const struct AP_Param::GroupInfo var_info[];
 
 private:
+    virtual bool is_valid(const Location &rally_point) const { return true; }
+
     static StorageAccess _storage;
 
     // internal variables