ardupilot/ArduSub/fence.cpp

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#include "Sub.h"
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// Code to integrate AC_Fence library with main ArduSub code
#if AC_FENCE == ENABLED
// fence_check - ask fence library to check for breaches and initiate the response
// called at 1hz
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void Sub::fence_check()
{
uint8_t new_breaches; // the type of fence that has been breached
uint8_t orig_breaches = fence.get_breaches();
// give fence library our current distance from home in meters
fence.set_home_distance(home_distance*0.01f);
// check for a breach
new_breaches = fence.check_fence(current_loc.alt/100.0f);
// return immediately if motors are not armed
if (!motors.armed()) {
return;
}
// if there is a new breach take action
if (new_breaches != AC_FENCE_TYPE_NONE) {
// if the user wants some kind of response and motors are armed
if (fence.get_action() != AC_FENCE_ACTION_REPORT_ONLY) {
//
// // disarm immediately if we think we are on the ground or in a manual flight mode with zero throttle
// // don't disarm if the high-altitude fence has been broken because it's likely the user has pulled their throttle to zero to bring it down
// if (ap.land_complete || (mode_has_manual_throttle(control_mode) && ap.throttle_zero && !failsafe.manual_control && ((fence.get_breaches() & AC_FENCE_TYPE_ALT_MAX)== 0))){
// init_disarm_motors();
// }else{
// // if we are within 100m of the fence, RTL
// if (fence.get_breach_distance(new_breaches) <= AC_FENCE_GIVE_UP_DISTANCE) {
// if (!set_mode(RTL, MODE_REASON_FENCE_BREACH)) {
// set_mode(LAND, MODE_REASON_FENCE_BREACH);
// }
// }else{
// // if more than 100m outside the fence just force a land
// set_mode(LAND, MODE_REASON_FENCE_BREACH);
// }
// }
}
// log an error in the dataflash
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_FENCE, new_breaches);
}
// record clearing of breach
if (orig_breaches != AC_FENCE_TYPE_NONE && fence.get_breaches() == AC_FENCE_TYPE_NONE) {
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_FENCE, ERROR_CODE_ERROR_RESOLVED);
}
}
// fence_send_mavlink_status - send fence status to ground station
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void Sub::fence_send_mavlink_status(mavlink_channel_t chan)
{
if (fence.enabled()) {
// traslate fence library breach types to mavlink breach types
uint8_t mavlink_breach_type = FENCE_BREACH_NONE;
uint8_t breaches = fence.get_breaches();
if ((breaches & AC_FENCE_TYPE_ALT_MAX) != 0) {
mavlink_breach_type = FENCE_BREACH_MAXALT;
}
if ((breaches & AC_FENCE_TYPE_CIRCLE) != 0) {
mavlink_breach_type = FENCE_BREACH_BOUNDARY;
}
// send status
mavlink_msg_fence_status_send(chan,
(int8_t)(fence.get_breaches()!=0),
fence.get_breach_count(),
mavlink_breach_type,
fence.get_breach_time());
}
}
#endif