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AC_Fence: add options param on plane

This commit is contained in:
Iampete1 2022-08-12 20:32:28 +01:00 committed by Andrew Tridgell
parent 83b544dd0c
commit 259e70b2b1
2 changed files with 15 additions and 0 deletions
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7
libraries/AC_Fence/AC_Fence.cpp
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@ -134,6 +134,13 @@ const AP_Param::GroupInfo AC_Fence::var_info[] = {
// @User: Standard // @User: Standard
AP_GROUPINFO_FRAME("AUTOENABLE", 10, AC_Fence, _auto_enabled, static_cast<uint8_t>(AutoEnable::ALWAYS_DISABLED), AP_PARAM_FRAME_PLANE), AP_GROUPINFO_FRAME("AUTOENABLE", 10, AC_Fence, _auto_enabled, static_cast<uint8_t>(AutoEnable::ALWAYS_DISABLED), AP_PARAM_FRAME_PLANE),
// @Param{Plane}: OPTIONS
// @DisplayName: Fence options
// @Description: 0:Disable mode change following fence action until fence breach is cleared
// @Bitmask: 0:Disable mode change following fence action until fence breach is cleared
// @User: Standard
AP_GROUPINFO_FRAME("OPTIONS", 11, AC_Fence, _options, static_cast<uint16_t>(OPTIONS::DISABLE_MODE_CHANGE), AP_PARAM_FRAME_PLANE),
AP_GROUPEND AP_GROUPEND
}; };

8
libraries/AC_Fence/AC_Fence.h
View File

@ -146,6 +146,13 @@ public:
AC_PolyFence_loader &polyfence(); AC_PolyFence_loader &polyfence();
const AC_PolyFence_loader &polyfence() const; const AC_PolyFence_loader &polyfence() const;
enum class OPTIONS {
DISABLE_MODE_CHANGE = 1 << 0,
};
bool option_enabled(OPTIONS opt) const {
return (_options.get() & int16_t(opt)) != 0;
}
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
private: private:
@ -186,6 +193,7 @@ private:
AP_Int8 _total; // number of polygon points saved in eeprom AP_Int8 _total; // number of polygon points saved in eeprom
AP_Int8 _ret_rally; // return to fence return point or rally point/home AP_Int8 _ret_rally; // return to fence return point or rally point/home
AP_Int16 _ret_altitude; // return to this altitude AP_Int16 _ret_altitude; // return to this altitude
AP_Int16 _options; // options bitmask, see OPTIONS enum
// backup fences // backup fences
float _alt_max_backup; // backup altitude upper limit in meters used to refire the breach if the vehicle continues to move further away float _alt_max_backup; // backup altitude upper limit in meters used to refire the breach if the vehicle continues to move further away