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AP_Rally: add is_valid method

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method will be used in Copter to check if a rally point is inside fence
This commit is contained in:
Francisco Ferreira 2016-07-19 23:40:22 +01:00 committed by Randy Mackay
parent b8011fd46c
commit ef28be9ce8
2 changed files with 3 additions and 1 deletions
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2
libraries/AP_Rally/AP_Rally.cpp
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@ -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); Location rally_loc = rally_location_to_location(next_rally);
float dis = get_distance(current_loc, rally_loc); 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; min_dis = dis;
return_loc = next_rally; return_loc = next_rally;
} }

2
libraries/AP_Rally/AP_Rally.h
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@ -62,6 +62,8 @@ public:
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
private: private:
virtual bool is_valid(const Location &rally_point) const { return true; }
static StorageAccess _storage; static StorageAccess _storage;
// internal variables // internal variables