aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AC_Fence: simplify fence loading

Browse Source 
There's only one caller to this, who didn't force loading - so remove
the unused parameter.

Also remove the _boundary_loaded boolean; it was only set to true in one
place - just before the sole caller called the function!
This commit is contained in:
Peter Barker 2019-05-30 14:25:22 +10:00 committed by Randy Mackay
parent b25acb4d22
commit 062ee71135
2 changed files with 2 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
libraries/AC_Fence/AC_Fence.cpp
View File

@ -261,7 +261,6 @@ bool AC_Fence::polygon_fence_is_breached()
// check consistency of number of points
if (_boundary_num_points != _total) {
// Fence is currently not completely loaded. Can't breach it?!
_boundary_loaded = false;
load_polygon_from_eeprom();
return false;
}
@ -535,13 +534,8 @@ void AC_Fence::handle_msg(GCS_MAVLINK &link, mavlink_message_t* msg)
}
/// load polygon points stored in eeprom into boundary array and perform validation
bool AC_Fence::load_polygon_from_eeprom(bool force_reload)
bool AC_Fence::load_polygon_from_eeprom()
{
// exit immediately if already loaded
if (_boundary_loaded && !force_reload) {
return true;
}
// check if we need to create array
if (!_boundary_create_attempted) {
_boundary = (Vector2f *)_poly_loader.create_point_array(sizeof(Vector2f));
@ -579,7 +573,6 @@ bool AC_Fence::load_polygon_from_eeprom(bool force_reload)
_boundary[index] = ekf_origin.get_distance_NE(temp_loc) * 100.0f;
}
_boundary_num_points = _total;
_boundary_loaded = true;
// update validity of polygon
_boundary_valid = _poly_loader.boundary_valid(_boundary_num_points, _boundary);

3
libraries/AC_Fence/AC_Fence.h
View File

@ -142,7 +142,7 @@ private:
bool pre_arm_check_alt(const char* &fail_msg) const;
/// load polygon points stored in eeprom into boundary array and perform validation. returns true if load successfully completed
bool load_polygon_from_eeprom(bool force_reload = false);
bool load_polygon_from_eeprom();
// returns true if we have breached the fence:
bool polygon_fence_is_breached();
@ -182,7 +182,6 @@ private:
Vector2f *_boundary = nullptr; // array of boundary points. Note: point 0 is the return point
uint8_t _boundary_num_points = 0; // number of points in the boundary array (should equal _total parameter after load has completed)
bool _boundary_create_attempted = false; // true if we have attempted to create the boundary array
bool _boundary_loaded = false; // true if boundary array has been loaded from eeprom
bool _boundary_valid = false; // true if boundary forms a closed polygon
};