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AC_Fence: get home distance directly from ahrs

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Peter Barker 2017-12-14 14:46:48 +11:00 committed by Francisco Ferreira
parent 20e295c23a
commit 0f94fde434
2 changed files with 6 additions and 7 deletions
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6
libraries/AC_Fence/AC_Fence.cpp
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@ -241,6 +241,12 @@ bool AC_Fence::check_fence_circle()
return false; return false;
} }
Vector2f home;
if (_ahrs.get_relative_position_NE_home(home)) {
// we (may) remain breached if we can't update home
_home_distance = home.length();
}
// check if we are outside the fence // check if we are outside the fence
if (_home_distance >= _circle_radius) { if (_home_distance >= _circle_radius) {

7
libraries/AC_Fence/AC_Fence.h
View File

@ -95,13 +95,6 @@ public:
/// has no effect if no breaches have occurred /// has no effect if no breaches have occurred
void manual_recovery_start(); void manual_recovery_start();
///
/// time saving methods to piggy-back on main code's calculations
///
/// set_home_distance - update vehicle's distance from home in meters - required for circular horizontal fence monitoring
void set_home_distance(float distance) { _home_distance = distance; }
/// ///
/// polygon related methods /// polygon related methods
/// ///