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Plane: Changes needed prior to merging with master identified by Tridge.

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This commit is contained in:
Michael Day 2014-03-25 18:42:58 -07:00 committed by Andrew Tridgell
parent f921d4fbac
commit 268b1e85a1
3 changed files with 17 additions and 8 deletions
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12
ArduPlane/GCS_Mavlink.pde
View File

@ -1288,16 +1288,20 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
if (!geofence_present()) {
result = MAV_RESULT_FAILED;
} else {
if (packet.param1 == 0) {
} switch((uint16_t)packet.param1) {
case 0:
if (! geofence_set_enabled(false, GCS_TOGGLED)) {
result = MAV_RESULT_FAILED;
}
} else {
break;
case 1:
if (! geofence_set_enabled(true, GCS_TOGGLED)) {
result = MAV_RESULT_FAILED;
}
}
break;
default:
result = MAV_RESULT_FAILED;
break;
}
break;

4
ArduPlane/Parameters.pde
View File

@ -275,14 +275,14 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Param: FENCE_AUTOENABLE
// @DisplayName: Fence automatically enabled after auto takeoff and automatically disabled when starting an auto landing. Note that this does NOT remove the need to first create a geofence.
// @Description: When set to 1, gefence automatically enables after an auto takeoff and automatically disables at the beginning of an auto landing. When on the ground before takeoff the fence is disabled.
// @Range: 0 1
// @Values: 0:NoAutoEnable,1:AutoEnable
// @User: Standard
GSCALAR(fence_autoenable, "FENCE_AUTOENABLE", 0),
// @Param: FENCE_RET_RALLY
// @DisplayName: Fence Return to Rally
// @Description: When set to 1: on fence breach the plane will return to the nearest rally point rather than the fence return point. If no rally points have been defined the plane will return to the home point.
// @Range: 0 1
// @Values: 0:FenceReturnPoint,1:NearestRallyPoint
// @User: Standard
GSCALAR(fence_ret_rally, "FENCE_RET_RALLY", 0),
#endif

9
ArduPlane/geofence.pde
View File

@ -5,6 +5,10 @@
*/
#if GEOFENCE_ENABLED == ENABLED
#define MIN_GEOFENCE_POINTS 4 //3 to define a minimal polygon (triangle)
//+ 1 for return point.
/*
* The state of geo-fencing. This structure is dynamically allocated
* the first time it is used. This means we only pay for the pointer
@ -126,13 +130,14 @@ failed:
}
/*
* return true if a geo-fence has been uploaded (not necessarily enabled)
* return true if a geo-fence has been uploaded and
* FENCE_ACTION is 1 (not necessarily enabled)
*/
static bool geofence_present(void)
{
//require at least a return point and a triangle
//to define a geofence area:
if (g.fence_total < 4) {
if (g.fence_action != FENCE_ACTION_NONE && g.fence_total < MIN_GEOFENCE_POINTS) {
return false;
}
return true;