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Plane: set fence manual recovery on mode change

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Iampete1 2022-08-06 21:43:59 +01:00 committed by Andrew Tridgell
parent e7cb949f5f
commit 367984a6b8
1 changed files with 7 additions and 0 deletions
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7
ArduPlane/mode.cpp
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@ -101,6 +101,13 @@ bool Mode::enter()
// update RC failsafe, as mode change may have necessitated changing the failsafe throttle // update RC failsafe, as mode change may have necessitated changing the failsafe throttle
plane.control_failsafe(); plane.control_failsafe();
#if AP_FENCE_ENABLED
// 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)
// but it should be harmless to disable the fence temporarily in these situations as well
plane.fence.manual_recovery_start();
#endif
} }
return enter_result; return enter_result;