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AC_Fence: relax sys-status healthy reporting

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This commit is contained in:
Randy Mackay 2019-10-31 19:28:50 +09:00
parent 9211ac76a3
commit f18e44616c
1 changed files with 0 additions and 24 deletions
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24
libraries/AC_Fence/AC_Fence.cpp
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@ -452,30 +452,6 @@ bool AC_Fence::sys_status_failed() const
if (get_breaches() != 0) {
return true;
}
if (_enabled_fences & AC_FENCE_TYPE_POLYGON) {
if (!_poly_loader.inclusion_boundary_available()) {
return true;
}
}
if (_enabled_fences & AC_FENCE_TYPE_CIRCLE) {
if (_circle_radius < 0) {
return true;
}
}
if (_enabled_fences & AC_FENCE_TYPE_ALT_MAX) {
if (_alt_max < 0.0f) {
return true;
}
}
if ((_enabled_fences & AC_FENCE_TYPE_CIRCLE) ||
(_enabled_fences & AC_FENCE_TYPE_POLYGON)) {
Vector2f position;
if (!AP::ahrs().get_relative_position_NE_home(position)) {
// both these fence types require position
return true;
}
}
return false;
}