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GCS_MAVLink: don't use avoidance on plane

This commit is contained in:
Andrew Tridgell 2022-01-05 21:26:27 +11:00
parent 2435c9451c
commit 06dcd5a16f
1 changed files with 3 additions and 0 deletions
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3
libraries/GCS_MAVLink/GCS_Fence.cpp
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@ -2,6 +2,7 @@
#include <AC_Fence/AC_Fence.h>
#include <AC_Avoidance/AC_Avoid.h>
#include <AP_Vehicle/AP_Vehicle_Type.h>
MAV_RESULT GCS_MAVLINK::handle_command_do_fence_enable(const mavlink_command_long_t &packet)
{
@ -76,6 +77,7 @@ void GCS_MAVLINK::send_fence_status() const
// report on Avoidance liminting
uint8_t breach_mitigation = FENCE_MITIGATE_UNKNOWN;
#if !APM_BUILD_TYPE(APM_BUILD_ArduPlane)
const AC_Avoid* avoid = AC_Avoid::get_singleton();
if (avoid != nullptr) {
if (avoid->limits_active()) {
@ -84,6 +86,7 @@ void GCS_MAVLINK::send_fence_status() const
breach_mitigation = FENCE_MITIGATE_NONE;
}
}
#endif
// send status
mavlink_msg_fence_status_send(chan,