ArduCopter/AP_Rally.cpp

   1 /*
   2    This program is free software: you can redistribute it and/or modify
   3    it under the terms of the GNU General Public License as published by
   4    the Free Software Foundation, either version 3 of the License, or
   5    (at your option) any later version.
   6
   7    This program is distributed in the hope that it will be useful,
   8    but WITHOUT ANY WARRANTY; without even the implied warranty of
   9    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  10    GNU General Public License for more details.
  11
  12    You should have received a copy of the GNU General Public License
  13    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  14  */
  15
  16 #include <AP_Rally/AP_Rally_config.h>
  17
  18 #if HAL_RALLY_ENABLED
  19
  20 #include <AP_Common/Location.h>
  21
  22 #include "Copter.h"
  23
  24 #include "AP_Rally.h"
  25
  26 bool AP_Rally_Copter::is_valid(const Location &rally_point) const
  27 {
  28 #if AP_FENCE_ENABLED
  29     if (!copter.fence.check_destination_within_fence(rally_point)) {
  30         return false;
  31     }
  32 #endif
  33     return true;
  34 }
  35
  36 #endif  // HAL_RALLY_ENABLED