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AP_Mission: generic fence handling in missions

This commit is contained in:
Andy Piper 2024-05-31 15:18:59 +01:00 committed by Peter Barker
parent eaf001c52f
commit 255fac215f
3 changed files with 33 additions and 0 deletions
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5
libraries/AP_Mission/AP_Mission.cpp
View File

@ -16,6 +16,7 @@
#include <AP_Vehicle/AP_Vehicle_Type.h> #include <AP_Vehicle/AP_Vehicle_Type.h>
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
#include <RC_Channel/RC_Channel_config.h> #include <RC_Channel/RC_Channel_config.h>
#include <AC_Fence/AC_Fence.h>
const AP_Param::GroupInfo AP_Mission::var_info[] = { const AP_Param::GroupInfo AP_Mission::var_info[] = {
@ -447,6 +448,10 @@ bool AP_Mission::start_command(const Mission_Command& cmd)
case MAV_CMD_VIDEO_START_CAPTURE: case MAV_CMD_VIDEO_START_CAPTURE:
case MAV_CMD_VIDEO_STOP_CAPTURE: case MAV_CMD_VIDEO_STOP_CAPTURE:
return start_command_camera(cmd); return start_command_camera(cmd);
#endif
#if AP_FENCE_ENABLED
case MAV_CMD_DO_FENCE_ENABLE:
return start_command_fence(cmd);
#endif #endif
case MAV_CMD_DO_PARACHUTE: case MAV_CMD_DO_PARACHUTE:
return start_command_parachute(cmd); return start_command_parachute(cmd);

1
libraries/AP_Mission/AP_Mission.h
View File

@ -936,6 +936,7 @@ private:
bool start_command_do_sprayer(const AP_Mission::Mission_Command& cmd); bool start_command_do_sprayer(const AP_Mission::Mission_Command& cmd);
bool start_command_do_scripting(const AP_Mission::Mission_Command& cmd); bool start_command_do_scripting(const AP_Mission::Mission_Command& cmd);
bool start_command_do_gimbal_manager_pitchyaw(const AP_Mission::Mission_Command& cmd); bool start_command_do_gimbal_manager_pitchyaw(const AP_Mission::Mission_Command& cmd);
bool start_command_fence(const AP_Mission::Mission_Command& cmd);
/* /*
handle format conversion of storage format to allow us to update handle format conversion of storage format to allow us to update

27
libraries/AP_Mission/AP_Mission_Commands.cpp
View File

@ -13,6 +13,7 @@
#include <AP_Scripting/AP_Scripting.h> #include <AP_Scripting/AP_Scripting.h>
#include <RC_Channel/RC_Channel.h> #include <RC_Channel/RC_Channel.h>
#include <AP_Mount/AP_Mount.h> #include <AP_Mount/AP_Mount.h>
#include <AC_Fence/AC_Fence.h>
#if AP_RC_CHANNEL_ENABLED #if AP_RC_CHANNEL_ENABLED
bool AP_Mission::start_command_do_aux_function(const AP_Mission::Mission_Command& cmd) bool AP_Mission::start_command_do_aux_function(const AP_Mission::Mission_Command& cmd)
@ -347,4 +348,30 @@ bool AP_Mission::start_command_do_gimbal_manager_pitchyaw(const AP_Mission::Miss
return false; return false;
} }
bool AP_Mission::start_command_fence(const AP_Mission::Mission_Command& cmd)
{
#if AP_FENCE_ENABLED
AC_Fence* fence = AP::fence();
if (fence == nullptr) {
return false;
}
if (cmd.p1 == 0) { // disable fence
uint8_t fences = fence->enable_configured(false);
fence->print_fence_message("disabled", fences);
return true;
} else if (cmd.p1 == 1) { // enable fence
uint8_t fences = fence->enable_configured(true);
fence->print_fence_message("enabled", fences);
return true;
} else if (cmd.p1 == 2) { // disable fence floor only
fence->disable_floor();
fence->print_fence_message("disabled", AC_FENCE_TYPE_ALT_MIN);
return true;
}
#endif // AP_FENCE_ENABLED
return false;
}
#endif // AP_MISSION_ENABLED #endif // AP_MISSION_ENABLED