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()
{
// ignore any fence activity when not armed
if (!motors.armed()) {
return;
}
const uint8_t orig_breaches = fence.get_breaches();
// check for new breaches; new_breaches is bitmask of fence types breached
const uint8_t new_breaches = fence.check();
// if there is a new breach take action
if (new_breaches) {
// 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);
} else if (orig_breaches) {
// record clearing of breach
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_FENCE, ERROR_CODE_ERROR_RESOLVED);
}
}
#endif