From 1aeaa5955beb15976584d7436bad0edcf52f1957 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Sun, 27 Apr 2014 11:09:15 +0900 Subject: [PATCH] Copter: integrate 10sec manual recovery after fence breach --- ArduCopter/flight_mode.pde | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/ArduCopter/flight_mode.pde b/ArduCopter/flight_mode.pde index c2135ff52b..650a387e29 100644 --- a/ArduCopter/flight_mode.pde +++ b/ArduCopter/flight_mode.pde @@ -104,6 +104,13 @@ static bool set_mode(uint8_t mode) exit_mode(control_mode, mode); control_mode = mode; Log_Write_Mode(control_mode); + +#if AC_FENCE == ENABLED + // pilot requested flight mode change during a fence breach indicates pilot is attempting to manually recover + // this flight mode change could be automatic (i.e. fence, battery, GPS or GCS failsafe) + // but it should be harmless to disable the fence temporarily in these situations as well + fence.manual_recovery_start(); +#endif }else{ // Log error that we failed to enter desired flight mode Log_Write_Error(ERROR_SUBSYSTEM_FLIGHT_MODE,mode);