Copter: call periodic fence update function

5 years ago · 4d6dc9b0a7
1 changed files with 3 additions and 0 deletions
--- a/ArduCopter/Copter.cpp
+++ b/ArduCopter/Copter.cpp
@ -127,6 +127,9 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
				@@ -127,6 +127,9 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
    SCHED_TASK(three_hz_loop,          3,     75),
    SCHED_TASK_CLASS(AP_ServoRelayEvents,  &copter.ServoRelayEvents,      update_events, 50,     75),
    SCHED_TASK_CLASS(AP_Baro,              &copter.barometer,           accumulate,      50,  90),
+#if AC_FENCE == ENABLED
+    SCHED_TASK_CLASS(AC_Fence,             &copter.fence,               update,          10, 100),
+#endif
 #if PRECISION_LANDING == ENABLED
    SCHED_TASK(update_precland,      400,     50),
 #endif