Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_Arming: Enable and Disable the fence when vehicle is armed/disarmed 

AP_Arming: Use auto enable flag to arm fence only when armed (as per enum)

AP_Arming: Config defines are not available in AP_Arming

Since config definitions are not available in AP_Arming, we can still rely on singleton access of the AC_Fence object.

AP_Arming: Perform fence checks for all vehicles
This commit is contained in:
James O'Shannessy 2020-09-01 10:56:12 +10:00 committed by Peter Barker
parent 87b66b4b49
commit 0e73b7bce1
1 changed files with 17 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

18
libraries/AP_Arming/AP_Arming.cpp
View File

@ -1141,7 +1141,8 @@ bool AP_Arming::pre_arm_checks(bool report)
& osd_checks(report)
& visodom_checks(report)
& aux_auth_checks(report)
& disarm_switch_checks(report);
& disarm_switch_checks(report)
& fence_checks(report);
}
bool AP_Arming::arm_checks(AP_Arming::Method method)
@ -1167,6 +1168,14 @@ bool AP_Arming::arm_checks(AP_Arming::Method method)
return false;
}
}
AC_Fence *fence = AP::fence();
if (fence != nullptr) {
// If a fence is set to auto-enable, turn on the fence
if(fence->auto_enabled() == AC_Fence::AutoEnable::ONLY_WHEN_ARMED) {
fence->enable(true);
}
}
// note that this will prepare AP_Logger to start logging
// so should be the last check to be done before arming
@ -1235,6 +1244,13 @@ bool AP_Arming::disarm(const AP_Arming::Method method, bool do_disarm_checks)
}
#endif
AC_Fence *fence = AP::fence();
if (fence != nullptr) {
if(fence->auto_enabled() == AC_Fence::AutoEnable::ONLY_WHEN_ARMED) {
fence->enable(false);
}
}
return true;
}