bool AC_Fence::sys_status_failed() const
{
if (!sys_status_present()) {
// not failed if not present; can fail if present but not enabled
return false;
}
if (get_breaches() != 0) {
return true;
}
if (_enabled_fences & AC_FENCE_TYPE_POLYGON) {
if (!_boundary_valid) {
return true;
}
}
if (_enabled_fences & AC_FENCE_TYPE_CIRCLE) {
if (_circle_radius < 0) {
return true;
}
}
if (_enabled_fences & AC_FENCE_TYPE_ALT_MAX) {
if (_alt_max < 0.0f) {
return true;
}
}
if ((_enabled_fences & AC_FENCE_TYPE_CIRCLE) ||
(_enabled_fences & AC_FENCE_TYPE_POLYGON)) {
Vector2f position;
if (!_ahrs.get_relative_position_NE_home(position)) {
// both these fence types require position
return true;
}
}
return false;
}
bool AC_Fence::geofence_failed() const
{
if (!geofence_present()) {
// not failed if not present; can fail if present but not enabled
return false;
}
if (get_breaches() != 0) {
return true;
}
return false;
}
