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ArduSub: rename check_destination_within_fence to check_location_within_fence

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Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com>
This commit is contained in:
Ryan Friedman
2026-04-27 09:06:16 +01:00
committed by Andy Piper
parent c2c398365a
commit f93eb5d1d8
1 changed files with 5 additions and 5 deletions
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ArduSub/mode_guided.cpp
+5 -5
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@@ -171,7 +171,7 @@ bool ModeGuided::guided_set_destination(const Vector3f& destination)
#if AP_FENCE_ENABLED
// reject destination if outside the fence
const Location dest_loc(destination, Location::AltFrame::ABOVE_ORIGIN);
if (!sub.fence.check_destination_within_fence(dest_loc)) {
if (!sub.fence.check_location_within_fence(dest_loc)) {
LOGGER_WRITE_ERROR(LogErrorSubsystem::NAVIGATION, LogErrorCode::DEST_OUTSIDE_FENCE);
// failure is propagated to GCS with NAK
return false;
@@ -202,7 +202,7 @@ bool ModeGuided::guided_set_destination(const Location& dest_loc)
#if AP_FENCE_ENABLED
// reject destination outside the fence.
// Note: there is a danger that a target specified as a terrain altitude might not be checked if the conversion to alt-above-home fails
if (!sub.fence.check_destination_within_fence(dest_loc)) {
if (!sub.fence.check_location_within_fence(dest_loc)) {
LOGGER_WRITE_ERROR(LogErrorSubsystem::NAVIGATION, LogErrorCode::DEST_OUTSIDE_FENCE);
// failure is propagated to GCS with NAK
return false;
@@ -237,7 +237,7 @@ bool ModeGuided::guided_set_destination(const Vector3f& destination, bool use_ya
#if AP_FENCE_ENABLED
// reject destination if outside the fence
const Location dest_loc(destination, Location::AltFrame::ABOVE_ORIGIN);
if (!sub.fence.check_destination_within_fence(dest_loc)) {
if (!sub.fence.check_location_within_fence(dest_loc)) {
LOGGER_WRITE_ERROR(LogErrorSubsystem::NAVIGATION, LogErrorCode::DEST_OUTSIDE_FENCE);
// failure is propagated to GCS with NAK
return false;
@@ -303,7 +303,7 @@ bool ModeGuided::guided_set_destination_posvel(const Vector3f& destination, cons
#if AP_FENCE_ENABLED
// reject destination if outside the fence
const Location dest_loc(destination, Location::AltFrame::ABOVE_ORIGIN);
if (!sub.fence.check_destination_within_fence(dest_loc)) {
if (!sub.fence.check_location_within_fence(dest_loc)) {
LOGGER_WRITE_ERROR(LogErrorSubsystem::NAVIGATION, LogErrorCode::DEST_OUTSIDE_FENCE);
// failure is propagated to GCS with NAK
return false;
@@ -338,7 +338,7 @@ bool ModeGuided::guided_set_destination_posvel(const Vector3f& destination, cons
#if AP_FENCE_ENABLED
// reject destination if outside the fence
const Location dest_loc(destination, Location::AltFrame::ABOVE_ORIGIN);
if (!sub.fence.check_destination_within_fence(dest_loc)) {
if (!sub.fence.check_location_within_fence(dest_loc)) {
LOGGER_WRITE_ERROR(LogErrorSubsystem::NAVIGATION, LogErrorCode::DEST_OUTSIDE_FENCE);
// failure is propagated to GCS with NAK
return false;