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ArduPlane: add AUTOLAND as FENCE_ACTION

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Henry Wurzburg 2025-02-12 08:38:28 -06:00 committed by Andrew Tridgell
parent bdd84b974a
commit 17299a7bb4
1 changed files with 11 additions and 0 deletions
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11
ArduPlane/fence.cpp
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@ -42,6 +42,7 @@ void Plane::fence_check()
case AC_FENCE_ACTION_GUIDED:
case AC_FENCE_ACTION_GUIDED_THROTTLE_PASS:
case AC_FENCE_ACTION_RTL_AND_LAND:
case AC_FENCE_ACTION_AUTOLAND_OR_RTL:
if (plane.control_mode_reason == ModeReason::FENCE_BREACHED &&
control_mode->is_guided_mode()) {
set_mode(*previous_mode, ModeReason::FENCE_RETURN_PREVIOUS_MODE);
@ -81,6 +82,7 @@ void Plane::fence_check()
case AC_FENCE_ACTION_REPORT_ONLY:
break;
case AC_FENCE_ACTION_AUTOLAND_OR_RTL:
case AC_FENCE_ACTION_RTL_AND_LAND:
if (control_mode == &mode_auto &&
mission.get_in_landing_sequence_flag() &&
@ -89,6 +91,15 @@ void Plane::fence_check()
// already landing
return;
}
#if MODE_AUTOLAND_ENABLED
if (control_mode == &mode_autoland) {
// Already landing
return;
}
if ((fence_act == AC_FENCE_ACTION_AUTOLAND_OR_RTL) && set_mode(mode_autoland, ModeReason::FENCE_BREACHED)) {
break;
}
#endif
set_mode(mode_rtl, ModeReason::FENCE_BREACHED);
break;