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AC_Fence: load and store fence radii in floats

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These were simply being cast down to integers
This commit is contained in:
Peter Barker 2021-06-01 13:17:39 +10:00 committed by Peter Barker
parent e644a9dda8
commit e3db030d7a
1 changed files with 3 additions and 3 deletions
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6
libraries/AC_Fence/AC_PolyFence_loader.cpp
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@ -116,7 +116,7 @@ bool AC_PolyFence_loader::get_item(const uint16_t seq, AC_PolyFenceItem &item)
if (!read_latlon_from_storage(offset, item.loc)) { if (!read_latlon_from_storage(offset, item.loc)) {
return false; return false;
} }
item.radius = fence_storage.read_uint32(offset); item.radius = fence_storage.read_float(offset);
break; break;
case AC_PolyFenceType::POLYGON_INCLUSION: case AC_PolyFenceType::POLYGON_INCLUSION:
case AC_PolyFenceType::POLYGON_EXCLUSION: case AC_PolyFenceType::POLYGON_EXCLUSION:
@ -789,7 +789,7 @@ bool AC_PolyFence_loader::load_from_eeprom()
break; break;
} }
// now read the radius // now read the radius
circle.radius = fence_storage.read_uint32(storage_offset); circle.radius = fence_storage.read_float(storage_offset);
if (circle.radius <= 0) { if (circle.radius <= 0) {
gcs().send_text(MAV_SEVERITY_WARNING, "AC_Fence: non-positive circle radius"); gcs().send_text(MAV_SEVERITY_WARNING, "AC_Fence: non-positive circle radius");
storage_valid = false; storage_valid = false;
@ -1075,7 +1075,7 @@ bool AC_PolyFence_loader::write_fence(const AC_PolyFenceItem *new_items, uint16_
return false; return false;
} }
// store the radius // store the radius
fence_storage.write_uint32(offset, new_item.radius); fence_storage.write_float(offset, new_item.radius);
offset += 4; offset += 4;
break; break;
case AC_PolyFenceType::RETURN_POINT: case AC_PolyFenceType::RETURN_POINT: