AC_Fence: accept curr_alt parameter instead of getting alt from inav

libraries/AC_Fence/AC_Fence.cpp

@@ -111,7 +111,7 @@ bool AC_Fence::pre_arm_check() const
 }
 
 /// check_fence - returns the fence type that has been breached (if any)
-uint8_t AC_Fence::check_fence()
+uint8_t AC_Fence::check_fence(float curr_alt)
 {
     uint8_t ret = AC_FENCE_TYPE_NONE;
 
@@ -131,9 +131,6 @@ uint8_t AC_Fence::check_fence()
         }
     }
 
-    // get current altitude in meters
-    float curr_alt = _inav.get_altitude() * 0.01f;
-
     // altitude fence check
     if ((_enabled_fences & AC_FENCE_TYPE_ALT_MAX) != 0) {
 

libraries/AC_Fence/AC_Fence.h

@@ -52,7 +52,7 @@ public:
     ///
 
     /// check_fence - returns the fence type that has been breached (if any)
-    uint8_t check_fence();
+    uint8_t check_fence(float curr_alt);
 
     /// get_breaches - returns bit mask of the fence types that have been breached
     uint8_t get_breaches() const { return _breached_fences; }