Copter: check fence when disarmed
this allows catching fence breaches as part of arming checks
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@ -13,17 +13,17 @@ void Copter::fence_check()
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uint8_t new_breaches; // the type of fence that has been breached
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uint8_t orig_breaches = fence.get_breaches();
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// return immediately if motors are not armed
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if(!motors.armed()) {
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return;
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}
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// give fence library our current distance from home in meters
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fence.set_home_distance(home_distance*0.01f);
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// check for a breach
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new_breaches = fence.check_fence(current_loc.alt/100.0f);
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// return immediately if motors are not armed
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if(!motors.armed()) {
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return;
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}
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// if there is a new breach take action
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if( new_breaches != AC_FENCE_TYPE_NONE ) {
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