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AP_Landing: Autoenable fence if required when landing was aborted

This commit is contained in:
James O'Shannessy 2021-03-03 23:25:47 +11:00 committed by Peter Barker
parent 269fa5cbe2
commit 26811ad46d
1 changed files with 6 additions and 0 deletions
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6
libraries/AP_Landing/AP_Landing.cpp
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@ -20,6 +20,7 @@
#include "AP_Landing.h" #include "AP_Landing.h"
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
#include <AP_AHRS/AP_AHRS.h> #include <AP_AHRS/AP_AHRS.h>
#include <AC_Fence/AC_Fence.h>
// table of user settable parameters // table of user settable parameters
const AP_Param::GroupInfo AP_Landing::var_info[] = { const AP_Param::GroupInfo AP_Landing::var_info[] = {
@ -249,6 +250,11 @@ bool AP_Landing::verify_abort_landing(const Location &prev_WP_loc, Location &nex
mission.resume(); mission.resume();
} }
// else we're in AUTO with a stopped mission and handle_auto_mode() will set RTL // else we're in AUTO with a stopped mission and handle_auto_mode() will set RTL
AC_Fence *fence = AP::fence();
if (fence) {
fence->auto_enable_fence_after_takeoff();
}
} }
Log(); Log();