From 4c1328483d280a7f3e97e2d4e1e422caeff462b7 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Mon, 27 Mar 2017 18:13:05 +0200
Subject: [PATCH] geofence: disable altitude check if not configured
It currently cannot be configured via mavlink mission protocol.
---
src/modules/navigator/geofence.cpp | 6 ++++--
1 file changed, 4 insertions(+), 2 deletions(-)
diff --git a/src/modules/navigator/geofence.cpp b/src/modules/navigator/geofence.cpp
index 83292f47a0..b9367cadb1 100644
--- a/src/modules/navigator/geofence.cpp
+++ b/src/modules/navigator/geofence.cpp
@@ -260,8 +260,10 @@ bool Geofence::checkPolygons(double lat, double lon, float altitude)
}
/* Vertical check */
- if (altitude > _altitude_max || altitude < _altitude_min) {
- return false;
+ if (_altitude_max > _altitude_min) { // only enable vertical check if configured properly
+ if (altitude > _altitude_max || altitude < _altitude_min) {
+ return false;
+ }
}
/* Horizontal check: iterate all polygons */
--
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