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geofence: disable altitude check if not configured

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It currently cannot be configured via mavlink mission protocol.
This commit is contained in:
Beat Küng
2017-08-04 18:08:51 +02:00
committed by Lorenz Meier
parent 2981ece921
commit 4c1328483d
1 changed files with 4 additions and 2 deletions
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src/modules/navigator/geofence.cpp
+4 -2
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@@ -260,8 +260,10 @@ bool Geofence::checkPolygons(double lat, double lon, float altitude)
} }
/* Vertical check */ /* Vertical check */
if (altitude > _altitude_max || altitude < _altitude_min) { if (_altitude_max > _altitude_min) { // only enable vertical check if configured properly
return false; if (altitude > _altitude_max || altitude < _altitude_min) {
return false;
}
} }
/* Horizontal check: iterate all polygons */ /* Horizontal check: iterate all polygons */