Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 14:38:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

Plane: set fence manual recovery on mode change

Browse Source
This commit is contained in:
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
ArduPlane/mode.cpp
View File

@ -101,6 +101,13 @@ bool Mode::enter()
// update RC failsafe, as mode change may have necessitated changing the failsafe throttle
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;