ardupilot/APMrover2/fence.cpp

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#include "Rover.h"
// fence_check - ask fence library to check for breaches and initiate the response
void Rover::fence_check()
{
uint8_t new_breaches; // the type of fence that has been breached
const uint8_t orig_breaches = g2.fence.get_breaches();
// check for a breach
new_breaches = g2.fence.check();
// return immediately if motors are not armed
if (!arming.is_armed()) {
return;
}
// if there is a new breach take action
if (new_breaches) {
// if the user wants some kind of response and motors are armed
if (g2.fence.get_action() != AC_FENCE_ACTION_REPORT_ONLY) {
// if we are within 100m of the fence, RTL
if (g2.fence.get_breach_distance(new_breaches) <= AC_FENCE_GIVE_UP_DISTANCE) {
if (!set_mode(mode_rtl, ModeReason::FENCE_BREACHED)) {
set_mode(mode_hold, ModeReason::FENCE_BREACHED);
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}
} else {
// if more than 100m outside the fence just force to HOLD
set_mode(mode_hold, ModeReason::FENCE_BREACHED);
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}
}
AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_FENCE, LogErrorCode(new_breaches));
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} else if (orig_breaches) {
// record clearing of breach
AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_FENCE,
LogErrorCode::ERROR_RESOLVED);
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}
}