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AC_Fence: adjust fence sys_status failed based on position and parameters

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Peter Barker 2017-12-27 20:10:08 +11:00 committed by Francisco Ferreira
parent 6bcdab55d0
commit c8e0ae6890
1 changed files with 18 additions and 0 deletions
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18
libraries/AC_Fence/AC_Fence.cpp
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@ -588,6 +588,24 @@ bool AC_Fence::sys_status_failed() const
return true; return true;
} }
} }
if (_enabled_fences & AC_FENCE_TYPE_CIRCLE) {
if (_circle_radius < 0) {
return true;
}
}
if (_enabled_fences & AC_FENCE_TYPE_ALT_MAX) {
if (_alt_max < 0.0f) {
return true;
}
}
if ((_enabled_fences & AC_FENCE_TYPE_CIRCLE) ||
(_enabled_fences & AC_FENCE_TYPE_POLYGON)) {
Vector2f position;
if (!_ahrs.get_relative_position_NE_home(position)) {
// both these fence types require position
return true;
}
}
return false; return false;
} }