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geofence: add simple vertical check

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Thomas Gubler
2014-01-04 15:17:07 +01:00
parent ec60a254d2
commit 31d1f436ad
3 changed files with 10 additions and 4 deletions
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src/modules/navigator/mission_feasibility_checker.cpp
+1 -1
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@@ -108,7 +108,7 @@ bool MissionFeasibilityChecker::checkGeofence(dm_item_t dm_current, size_t nMiss
return false;
}
if (!geofence.inside(missionitem.lat, missionitem.lon)) {
if (!geofence.inside(missionitem.lat, missionitem.lon, missionitem.altitude)) { //xxx: handle relative altitude
mavlink_log_info(_mavlink_fd, "#audio: Geofence violation waypoint %d", i);
return false;
}