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Copter: check fence when disarmed

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this allows catching fence breaches as part of arming checks
This commit is contained in:
Randy Mackay 2015-07-08 15:21:31 +09:00
parent fbe0e5dfb3
commit 290cdcf6fb
1 changed files with 5 additions and 5 deletions
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10
ArduCopter/fence.cpp
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@ -13,17 +13,17 @@ void Copter::fence_check()
uint8_t new_breaches; // the type of fence that has been breached uint8_t new_breaches; // the type of fence that has been breached
uint8_t orig_breaches = fence.get_breaches(); uint8_t orig_breaches = fence.get_breaches();
// return immediately if motors are not armed
if(!motors.armed()) {
return;
}
// give fence library our current distance from home in meters // give fence library our current distance from home in meters
fence.set_home_distance(home_distance*0.01f); fence.set_home_distance(home_distance*0.01f);
// check for a breach // check for a breach
new_breaches = fence.check_fence(current_loc.alt/100.0f); new_breaches = fence.check_fence(current_loc.alt/100.0f);
// return immediately if motors are not armed
if(!motors.armed()) {
return;
}
// if there is a new breach take action // if there is a new breach take action
if( new_breaches != AC_FENCE_TYPE_NONE ) { if( new_breaches != AC_FENCE_TYPE_NONE ) {