AC_Fence: require home as well as origin for prearm checks

7 years ago · e8151a7ec1
1 changed files with 1 additions and 1 deletions
--- a/libraries/AC_Fence/AC_Fence.cpp
+++ b/libraries/AC_Fence/AC_Fence.cpp
@ -135,7 +135,7 @@ bool AC_Fence::pre_arm_check(const char* &fail_msg) const
				@@ -135,7 +135,7 @@ bool AC_Fence::pre_arm_check(const char* &fail_msg) const
    if ((_enabled_fences & AC_FENCE_TYPE_CIRCLE) ||
        (_enabled_fences & AC_FENCE_TYPE_POLYGON)) {
        Vector2f position;
-        if (!_ahrs.get_relative_position_NE_origin(position)) {
+        if (!_ahrs.get_relative_position_NE_home(position)) {
            fail_msg = "fence requires position";
            return false;
        }