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AC_Fence: tidy get_breach_distance

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The polygon fence will soon be able to supply a breach distance -
prepare for that.
This commit is contained in:
Peter Barker 2019-08-08 13:16:54 +10:00 committed by Randy Mackay
parent 6a241cc3e9
commit a5ec64fc99
2 changed files with 11 additions and 14 deletions
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22
libraries/AC_Fence/AC_Fence.cpp
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@ -421,22 +421,18 @@ void AC_Fence::clear_breach(uint8_t fence_type)
_breached_fences &= ~fence_type;
}
/// get_breach_distance - returns distance in meters outside of the given fence
/// get_breach_distance - returns maximum distance in meters outside
/// of the given fences. fence_type is a bitmask here.
float AC_Fence::get_breach_distance(uint8_t fence_type) const
{
switch (fence_type) {
case AC_FENCE_TYPE_ALT_MAX:
return _alt_max_breach_distance;
break;
case AC_FENCE_TYPE_CIRCLE:
return _circle_breach_distance;
break;
case AC_FENCE_TYPE_ALT_MAX | AC_FENCE_TYPE_CIRCLE:
return MAX(_alt_max_breach_distance,_circle_breach_distance);
float max = 0.0f;
if (fence_type & AC_FENCE_TYPE_ALT_MAX) {
max = MAX(_alt_max_breach_distance, max);
}
// we don't recognise the fence type so just return 0
return 0;
if (fence_type & AC_FENCE_TYPE_CIRCLE) {
max = MAX(_circle_breach_distance, max);
}
return max;
}
/// manual_recovery_start - caller indicates that pilot is re-taking manual control so fence should be disabled for 10 seconds

3
libraries/AC_Fence/AC_Fence.h
View File

@ -72,7 +72,8 @@ public:
/// get_breach_count - returns number of times we have breached the fence
uint16_t get_breach_count() const { return _breach_count; }
/// get_breach_distance - returns distance in meters outside of the given fence
/// get_breach_distance - returns maximum distance in meters outside
/// of the given fences. fence_type is a bitmask here.
float get_breach_distance(uint8_t fence_type) const;
/// get_action - getter for user requested action on limit breach