ardupilot/ArduCopter/AP_Rally.cpp

32 lines
983 B
C++

/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <AP_Common/Location.h>
#include "Copter.h"
#include "AP_Rally.h"
bool AP_Rally_Copter::is_valid(const Location &rally_point) const
{
#if AC_FENCE == ENABLED
Location_Class rally_loc(rally_point);
if (!copter.fence.check_destination_within_fence(rally_loc)) {
return false;
}
#endif
return true;
}