From 4c1328483d280a7f3e97e2d4e1e422caeff462b7 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= 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 */