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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/ArduCopter/AP_Rally.cpp
Views: 1798
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/*

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   This program is free software: you can redistribute it and/or modify

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   it under the terms of the GNU General Public License as published by

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   the Free Software Foundation, either version 3 of the License, or

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   (at your option) any later version.

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   This program is distributed in the hope that it will be useful,

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   but WITHOUT ANY WARRANTY; without even the implied warranty of

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   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

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   GNU General Public License for more details.

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   You should have received a copy of the GNU General Public License

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   along with this program.  If not, see <http://www.gnu.org/licenses/>.

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 */

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#include <AP_Rally/AP_Rally_config.h>

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#if HAL_RALLY_ENABLED

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#include <AP_Common/Location.h>

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#include "Copter.h"

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#include "AP_Rally.h"

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bool AP_Rally_Copter::is_valid(const Location &rally_point) const

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{

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#if AP_FENCE_ENABLED

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    if (!copter.fence.check_destination_within_fence(rally_point)) {

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        return false;

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    }

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#endif

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    return true;

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}

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#endif  // HAL_RALLY_ENABLED

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