Line data    Source code

       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           1 : bool AP_Rally_Copter::is_valid(const Location &rally_point) const
      27             : {
      28             : #if AP_FENCE_ENABLED
      29           1 :     if (!copter.fence.check_location_within_fence(rally_point)) {
      30           0 :         return false;
      31             :     }
      32             : #endif
      33           1 :     return true;
      34             : }
      35             : 
      36             : #endif  // HAL_RALLY_ENABLED