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geofence: fix altitude change fence check

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When asking for an altitude change only, the current position needs to
be used, otherwise the geofence check is be skipped
This commit is contained in:
bresch
2023-07-06 22:39:39 -04:00
committed by Daniel Agar
parent 745fa3720e
commit afa085da7f
1 changed files with 10 additions and 2 deletions
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src/modules/navigator/navigator_main.cpp
+10 -2
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@@ -257,8 +257,16 @@ void Navigator::run()
bool reposition_valid = true;
vehicle_global_position_s position_setpoint{};
position_setpoint.lat = cmd.param5;
position_setpoint.lon = cmd.param6;
if (PX4_ISFINITE(cmd.param5) && PX4_ISFINITE(cmd.param6)) {
position_setpoint.lat = cmd.param5;
position_setpoint.lon = cmd.param6;
} else {
position_setpoint.lat = get_global_position()->lat;
position_setpoint.lon = get_global_position()->lon;
}
position_setpoint.alt = PX4_ISFINITE(cmd.param7) ? cmd.param7 : get_global_position()->alt;
if (have_geofence_position_data) {