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Copter: check for fence breaches when disarmed #8264

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Jun 11, 2018
Merged

Copter: check for fence breaches when disarmed #8264

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12 changes: 7 additions & 5 deletions ArduCopter/fence.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -8,16 +8,18 @@
// called at 1hz
void Copter::fence_check()
{
// ignore any fence activity when not armed
if(!motors->armed()) {
return;
}

const uint8_t orig_breaches = fence.get_breaches();

// check for new breaches; new_breaches is bitmask of fence types breached
const uint8_t new_breaches = fence.check();

// we still don't do anything when disarmed, but we do check for fence breaches.
// fence pre-arm check actually checks if any fence has been breached
// that's not ever going to be true if we don't call check on AP_Fence while disarmed.
if (!motors->armed()) {
return;
}

// if there is a new breach take action
if (new_breaches) {

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