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ArduCopter: change AC_FENCE to AP_FENCE_ENABLED

This commit is contained in:
Iampete1 2022-07-19 12:33:13 +01:00 committed by Andrew Tridgell
parent bab866268f
commit 1b160205ab
13 changed files with 27 additions and 27 deletions
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2
ArduCopter/APM_Config.h
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@ -4,7 +4,7 @@
//#define LOGGING_ENABLED DISABLED // disable logging to save 11K of flash space //#define LOGGING_ENABLED DISABLED // disable logging to save 11K of flash space
//#define MOUNT DISABLED // disable the camera gimbal to save 8K of flash space //#define MOUNT DISABLED // disable the camera gimbal to save 8K of flash space
//#define AUTOTUNE_ENABLED DISABLED // disable the auto tune functionality to save 7k of flash //#define AUTOTUNE_ENABLED DISABLED // disable the auto tune functionality to save 7k of flash
//#define AC_FENCE DISABLED // disable fence to save 2k of flash //#define AP_FENCE_ENABLED DISABLED // disable fence to save 2k of flash
//#define CAMERA DISABLED // disable camera trigger to save 1k of flash //#define CAMERA DISABLED // disable camera trigger to save 1k of flash
//#define RANGEFINDER_ENABLED DISABLED // disable rangefinder to save 1k of flash //#define RANGEFINDER_ENABLED DISABLED // disable rangefinder to save 1k of flash
//#define AC_RALLY DISABLED // disable rally points library (must also disable terrain which relies on rally) //#define AC_RALLY DISABLED // disable rally points library (must also disable terrain which relies on rally)

4
ArduCopter/AP_Arming.cpp
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@ -331,7 +331,7 @@ bool AP_Arming_Copter::gps_checks(bool display_failure)
{ {
// check if fence requires GPS // check if fence requires GPS
bool fence_requires_gps = false; bool fence_requires_gps = false;
#if AC_FENCE == ENABLED #if AP_FENCE_ENABLED
// if circular or polygon fence is enabled we need GPS // if circular or polygon fence is enabled we need GPS
fence_requires_gps = (copter.fence.get_enabled_fences() & (AC_FENCE_TYPE_CIRCLE | AC_FENCE_TYPE_POLYGON)) > 0; fence_requires_gps = (copter.fence.get_enabled_fences() & (AC_FENCE_TYPE_CIRCLE | AC_FENCE_TYPE_POLYGON)) > 0;
#endif #endif
@ -433,7 +433,7 @@ bool AP_Arming_Copter::mandatory_gps_checks(bool display_failure)
// check if fence requires GPS // check if fence requires GPS
bool fence_requires_gps = false; bool fence_requires_gps = false;
#if AC_FENCE == ENABLED #if AP_FENCE_ENABLED
// if circular or polygon fence is enabled we need GPS // if circular or polygon fence is enabled we need GPS
fence_requires_gps = (copter.fence.get_enabled_fences() & (AC_FENCE_TYPE_CIRCLE | AC_FENCE_TYPE_POLYGON)) > 0; fence_requires_gps = (copter.fence.get_enabled_fences() & (AC_FENCE_TYPE_CIRCLE | AC_FENCE_TYPE_POLYGON)) > 0;
#endif #endif

2
ArduCopter/AP_Rally.cpp
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@ -21,7 +21,7 @@
bool AP_Rally_Copter::is_valid(const Location &rally_point) const bool AP_Rally_Copter::is_valid(const Location &rally_point) const
{ {
#if AC_FENCE == ENABLED #if AP_FENCE_ENABLED
if (!copter.fence.check_destination_within_fence(rally_point)) { if (!copter.fence.check_destination_within_fence(rally_point)) {
return false; return false;
} }

2
ArduCopter/Copter.cpp
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@ -573,7 +573,7 @@ void Copter::three_hz_loop()
// check for deadreckoning failsafe // check for deadreckoning failsafe
failsafe_deadreckon_check(); failsafe_deadreckon_check();
#if AC_FENCE == ENABLED #if AP_FENCE_ENABLED
// check if we have breached a fence // check if we have breached a fence
fence_check(); fence_check();
#endif // AP_FENCE_ENABLED #endif // AP_FENCE_ENABLED

2
ArduCopter/Copter.h
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@ -764,7 +764,7 @@ private:
#endif #endif
// fence.cpp // fence.cpp
#if AC_FENCE == ENABLED #if AP_FENCE_ENABLED
void fence_check(); void fence_check();
#endif #endif

2
ArduCopter/failsafe.cpp
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@ -79,7 +79,7 @@ void Copter::failsafe_check()
void Copter::afs_fs_check(void) void Copter::afs_fs_check(void)
{ {
// perform AFS failsafe checks // perform AFS failsafe checks
#if AC_FENCE #if AP_FENCE_ENABLED
const bool fence_breached = fence.get_breaches() != 0; const bool fence_breached = fence.get_breaches() != 0;
#else #else
const bool fence_breached = false; const bool fence_breached = false;

2
ArduCopter/fence.cpp
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@ -2,7 +2,7 @@
// Code to integrate AC_Fence library with main ArduCopter code // Code to integrate AC_Fence library with main ArduCopter code
#if AC_FENCE == ENABLED #if AP_FENCE_ENABLED
// fence_check - ask fence library to check for breaches and initiate the response // fence_check - ask fence library to check for breaches and initiate the response
// called at 1hz // called at 1hz

2
ArduCopter/mode.cpp
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@ -312,7 +312,7 @@ bool Copter::set_mode(Mode::Number mode, ModeReason reason)
adsb.set_is_auto_mode((mode == Mode::Number::AUTO) || (mode == Mode::Number::RTL) || (mode == Mode::Number::GUIDED)); adsb.set_is_auto_mode((mode == Mode::Number::AUTO) || (mode == Mode::Number::RTL) || (mode == Mode::Number::GUIDED));
#endif #endif
#if AC_FENCE == ENABLED #if AP_FENCE_ENABLED
// pilot requested flight mode change during a fence breach indicates pilot is attempting to manually recover // 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) // 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 // but it should be harmless to disable the fence temporarily in these situations as well

6
ArduCopter/mode_auto.cpp
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@ -408,7 +408,7 @@ void ModeAuto::land_start()
copter.landinggear.deploy_for_landing(); copter.landinggear.deploy_for_landing();
#endif #endif
#if AC_FENCE == ENABLED #if AP_FENCE_ENABLED
// disable the fence on landing // disable the fence on landing
copter.fence.auto_disable_fence_for_landing(); copter.fence.auto_disable_fence_for_landing();
#endif #endif
@ -674,7 +674,7 @@ bool ModeAuto::start_command(const AP_Mission::Mission_Command& cmd)
break; break;
case MAV_CMD_DO_FENCE_ENABLE: case MAV_CMD_DO_FENCE_ENABLE:
#if AC_FENCE == ENABLED #if AP_FENCE_ENABLED
if (cmd.p1 == 0) { //disable if (cmd.p1 == 0) { //disable
copter.fence.enable(false); copter.fence.enable(false);
gcs().send_text(MAV_SEVERITY_INFO, "Fence Disabled"); gcs().send_text(MAV_SEVERITY_INFO, "Fence Disabled");
@ -682,7 +682,7 @@ bool ModeAuto::start_command(const AP_Mission::Mission_Command& cmd)
copter.fence.enable(true); copter.fence.enable(true);
gcs().send_text(MAV_SEVERITY_INFO, "Fence Enabled"); gcs().send_text(MAV_SEVERITY_INFO, "Fence Enabled");
} }
#endif //AC_FENCE == ENABLED #endif //AP_FENCE_ENABLED
break; break;
#if NAV_GUIDED == ENABLED #if NAV_GUIDED == ENABLED

6
ArduCopter/mode_guided.cpp
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@ -316,7 +316,7 @@ void ModeGuided::angle_control_start()
// else return false if the waypoint is outside the fence // else return false if the waypoint is outside the fence
bool ModeGuided::set_destination(const Vector3f& destination, bool use_yaw, float yaw_cd, bool use_yaw_rate, float yaw_rate_cds, bool relative_yaw, bool terrain_alt) bool ModeGuided::set_destination(const Vector3f& destination, bool use_yaw, float yaw_cd, bool use_yaw_rate, float yaw_rate_cds, bool relative_yaw, bool terrain_alt)
{ {
#if AC_FENCE == ENABLED #if AP_FENCE_ENABLED
// reject destination if outside the fence // reject destination if outside the fence
const Location dest_loc(destination, terrain_alt ? Location::AltFrame::ABOVE_TERRAIN : Location::AltFrame::ABOVE_ORIGIN); const Location dest_loc(destination, terrain_alt ? Location::AltFrame::ABOVE_TERRAIN : Location::AltFrame::ABOVE_ORIGIN);
if (!copter.fence.check_destination_within_fence(dest_loc)) { if (!copter.fence.check_destination_within_fence(dest_loc)) {
@ -408,7 +408,7 @@ bool ModeGuided::get_wp(Location& destination) const
// or if the fence is enabled and guided waypoint is outside the fence // or if the fence is enabled and guided waypoint is outside the fence
bool ModeGuided::set_destination(const Location& dest_loc, bool use_yaw, float yaw_cd, bool use_yaw_rate, float yaw_rate_cds, bool relative_yaw) bool ModeGuided::set_destination(const Location& dest_loc, bool use_yaw, float yaw_cd, bool use_yaw_rate, float yaw_rate_cds, bool relative_yaw)
{ {
#if AC_FENCE == ENABLED #if AP_FENCE_ENABLED
// reject destination outside the fence. // reject destination outside the fence.
// Note: there is a danger that a target specified as a terrain altitude might not be checked if the conversion to alt-above-home fails // Note: there is a danger that a target specified as a terrain altitude might not be checked if the conversion to alt-above-home fails
if (!copter.fence.check_destination_within_fence(dest_loc)) { if (!copter.fence.check_destination_within_fence(dest_loc)) {
@ -551,7 +551,7 @@ bool ModeGuided::set_destination_posvel(const Vector3f& destination, const Vecto
// set_destination_posvelaccel - set guided mode position, velocity and acceleration target // set_destination_posvelaccel - set guided mode position, velocity and acceleration target
bool ModeGuided::set_destination_posvelaccel(const Vector3f& destination, const Vector3f& velocity, const Vector3f& acceleration, bool use_yaw, float yaw_cd, bool use_yaw_rate, float yaw_rate_cds, bool relative_yaw) bool ModeGuided::set_destination_posvelaccel(const Vector3f& destination, const Vector3f& velocity, const Vector3f& acceleration, bool use_yaw, float yaw_cd, bool use_yaw_rate, float yaw_rate_cds, bool relative_yaw)
{ {
#if AC_FENCE == ENABLED #if AP_FENCE_ENABLED
// reject destination if outside the fence // reject destination if outside the fence
const Location dest_loc(destination, Location::AltFrame::ABOVE_ORIGIN); const Location dest_loc(destination, Location::AltFrame::ABOVE_ORIGIN);
if (!copter.fence.check_destination_within_fence(dest_loc)) { if (!copter.fence.check_destination_within_fence(dest_loc)) {

2
ArduCopter/mode_land.cpp
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@ -41,7 +41,7 @@ bool ModeLand::init(bool ignore_checks)
copter.landinggear.deploy_for_landing(); copter.landinggear.deploy_for_landing();
#endif #endif
#if AC_FENCE == ENABLED #if AP_FENCE_ENABLED
// disable the fence on landing // disable the fence on landing
copter.fence.auto_disable_fence_for_landing(); copter.fence.auto_disable_fence_for_landing();
#endif #endif

6
ArduCopter/mode_rtl.cpp
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@ -284,7 +284,7 @@ void ModeRTL::descent_start()
copter.landinggear.deploy_for_landing(); copter.landinggear.deploy_for_landing();
#endif #endif
#if AC_FENCE == ENABLED #if AP_FENCE_ENABLED
// disable the fence on landing // disable the fence on landing
copter.fence.auto_disable_fence_for_landing(); copter.fence.auto_disable_fence_for_landing();
#endif #endif
@ -382,7 +382,7 @@ void ModeRTL::land_start()
copter.landinggear.deploy_for_landing(); copter.landinggear.deploy_for_landing();
#endif #endif
#if AC_FENCE == ENABLED #if AP_FENCE_ENABLED
// disable the fence on landing // disable the fence on landing
copter.fence.auto_disable_fence_for_landing(); copter.fence.auto_disable_fence_for_landing();
#endif #endif
@ -531,7 +531,7 @@ void ModeRTL::compute_return_target()
// set returned target alt to new target_alt (don't change altitude type) // set returned target alt to new target_alt (don't change altitude type)
rtl_path.return_target.set_alt_cm(target_alt, (alt_type == ReturnTargetAltType::RELATIVE) ? Location::AltFrame::ABOVE_HOME : Location::AltFrame::ABOVE_TERRAIN); rtl_path.return_target.set_alt_cm(target_alt, (alt_type == ReturnTargetAltType::RELATIVE) ? Location::AltFrame::ABOVE_HOME : Location::AltFrame::ABOVE_TERRAIN);
#if AC_FENCE == ENABLED #if AP_FENCE_ENABLED
// ensure not above fence altitude if alt fence is enabled // ensure not above fence altitude if alt fence is enabled
// Note: because the rtl_path.climb_target's altitude is simply copied from the return_target's altitude, // Note: because the rtl_path.climb_target's altitude is simply copied from the return_target's altitude,
// if terrain altitudes are being used, the code below which reduces the return_target's altitude can lead to // if terrain altitudes are being used, the code below which reduces the return_target's altitude can lead to

16
ArduCopter/toy_mode.cpp
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@ -430,7 +430,7 @@ void ToyMode::update()
*/ */
if (set_and_remember_mode(Mode::Number::ALT_HOLD, ModeReason::TOY_MODE)) { if (set_and_remember_mode(Mode::Number::ALT_HOLD, ModeReason::TOY_MODE)) {
gcs().send_text(MAV_SEVERITY_INFO, "Tmode: ALT_HOLD update arm"); gcs().send_text(MAV_SEVERITY_INFO, "Tmode: ALT_HOLD update arm");
#if AC_FENCE == ENABLED #if AP_FENCE_ENABLED
copter.fence.enable(false); copter.fence.enable(false);
#endif #endif
if (!copter.arming.arm(AP_Arming::Method::MAVLINK)) { if (!copter.arming.arm(AP_Arming::Method::MAVLINK)) {
@ -459,7 +459,7 @@ void ToyMode::update()
AP_Notify::flags.hybrid_loiter = false; AP_Notify::flags.hybrid_loiter = false;
#endif #endif
} else if (copter.position_ok() && set_and_remember_mode(Mode::Number::LOITER, ModeReason::TOY_MODE)) { } else if (copter.position_ok() && set_and_remember_mode(Mode::Number::LOITER, ModeReason::TOY_MODE)) {
#if AC_FENCE == ENABLED #if AP_FENCE_ENABLED
copter.fence.enable(true); copter.fence.enable(true);
#endif #endif
gcs().send_text(MAV_SEVERITY_INFO, "Tmode: LOITER update"); gcs().send_text(MAV_SEVERITY_INFO, "Tmode: LOITER update");
@ -622,7 +622,7 @@ void ToyMode::update()
copter.set_mode(Mode::Number::ALT_HOLD, ModeReason::TOY_MODE); copter.set_mode(Mode::Number::ALT_HOLD, ModeReason::TOY_MODE);
} else { } else {
copter.set_mode(Mode::Number::ALT_HOLD, ModeReason::TOY_MODE); copter.set_mode(Mode::Number::ALT_HOLD, ModeReason::TOY_MODE);
#if AC_FENCE == ENABLED #if AP_FENCE_ENABLED
copter.fence.enable(false); copter.fence.enable(false);
#endif #endif
if (copter.arming.arm(AP_Arming::Method::MAVLINK)) { if (copter.arming.arm(AP_Arming::Method::MAVLINK)) {
@ -643,13 +643,13 @@ void ToyMode::update()
if (new_mode != copter.flightmode->mode_number()) { if (new_mode != copter.flightmode->mode_number()) {
load_test.running = false; load_test.running = false;
#if AC_FENCE == ENABLED #if AP_FENCE_ENABLED
copter.fence.enable(false); copter.fence.enable(false);
#endif #endif
if (set_and_remember_mode(new_mode, ModeReason::TOY_MODE)) { if (set_and_remember_mode(new_mode, ModeReason::TOY_MODE)) {
gcs().send_text(MAV_SEVERITY_INFO, "Tmode: mode %s", copter.flightmode->name4()); gcs().send_text(MAV_SEVERITY_INFO, "Tmode: mode %s", copter.flightmode->name4());
// force fence on in all GPS flight modes // force fence on in all GPS flight modes
#if AC_FENCE == ENABLED #if AP_FENCE_ENABLED
if (copter.flightmode->requires_GPS()) { if (copter.flightmode->requires_GPS()) {
copter.fence.enable(true); copter.fence.enable(true);
} }
@ -660,7 +660,7 @@ void ToyMode::update()
// if we can't RTL then land // if we can't RTL then land
gcs().send_text(MAV_SEVERITY_ERROR, "Tmode: LANDING"); gcs().send_text(MAV_SEVERITY_ERROR, "Tmode: LANDING");
set_and_remember_mode(Mode::Number::LAND, ModeReason::TOY_MODE); set_and_remember_mode(Mode::Number::LAND, ModeReason::TOY_MODE);
#if AC_FENCE == ENABLED #if AP_FENCE_ENABLED
if (copter.landing_with_GPS()) { if (copter.landing_with_GPS()) {
copter.fence.enable(true); copter.fence.enable(true);
} }
@ -799,7 +799,7 @@ void ToyMode::action_arm(void)
arm_check_compass(); arm_check_compass();
if (needs_gps && copter.arming.gps_checks(false)) { if (needs_gps && copter.arming.gps_checks(false)) {
#if AC_FENCE == ENABLED #if AP_FENCE_ENABLED
// we want GPS and checks are passing, arm and enable fence // we want GPS and checks are passing, arm and enable fence
copter.fence.enable(true); copter.fence.enable(true);
#endif #endif
@ -815,7 +815,7 @@ void ToyMode::action_arm(void)
AP_Notify::events.arming_failed = true; AP_Notify::events.arming_failed = true;
gcs().send_text(MAV_SEVERITY_ERROR, "Tmode: GPS arming failed"); gcs().send_text(MAV_SEVERITY_ERROR, "Tmode: GPS arming failed");
} else { } else {
#if AC_FENCE == ENABLED #if AP_FENCE_ENABLED
// non-GPS mode // non-GPS mode
copter.fence.enable(false); copter.fence.enable(false);
#endif #endif