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Geofence: rework the way to check all GF at once

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-11-22 21:45:02 -05:00
committed by Daniel Agar
parent a41f24a2e2
commit 3c194d552a
4 changed files with 8 additions and 59 deletions
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src/modules/navigator/navigator_main.cpp
+2 -2
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@@ -1469,8 +1469,8 @@ bool Navigator::geofence_allows_position(const vehicle_global_position_s &pos)
if ((_geofence.getGeofenceAction() != geofence_result_s::GF_ACTION_NONE) &&
(_geofence.getGeofenceAction() != geofence_result_s::GF_ACTION_WARN)) {
if (PX4_ISFINITE(pos.lat) && PX4_ISFINITE(pos.lon)) {
return _geofence.check(pos, _gps_pos);
if (PX4_ISFINITE(pos.lat) && PX4_ISFINITE(pos.lon) && PX4_ISFINITE(pos.alt)) {
return _geofence.checkPointAgainstAllGeofences(pos.lat, pos.lon, pos.alt);
}
}