Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AC_Fence: Add Smart RTL or LAND to the fence action

This commit is contained in:
murata 2021-01-31 11:34:40 +09:00 committed by Randy Mackay
parent 17f285b68f
commit 3824277d11
2 changed files with 2 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AC_Fence/AC_Fence.cpp
View File

@ -31,7 +31,7 @@ const AP_Param::GroupInfo AC_Fence::var_info[] = {
// @Param: ACTION
// @DisplayName: Fence Action
// @Description: What action should be taken when fence is breached
// @Values{Copter}: 0:Report Only,1:RTL or Land,2:Always Land,3:SmartRTL or RTL or Land,4:Brake or Land
// @Values{Copter}: 0:Report Only,1:RTL or Land,2:Always Land,3:SmartRTL or RTL or Land,4:Brake or Land,5:SmartRTL or Land
// @Values{Rover}: 0:Report Only,1:RTL,2:Hold,3:SmartRTL,4:SmartRTL or Hold
// @Values: 0:Report Only,1:RTL or Land
// @User: Standard

1
libraries/AC_Fence/AC_Fence.h
View File

@ -19,6 +19,7 @@
#define AC_FENCE_ACTION_ALWAYS_LAND 2 // always land
#define AC_FENCE_ACTION_SMART_RTL 3 // smartRTL, if that fails, RTL, it that still fails, land
#define AC_FENCE_ACTION_BRAKE 4 // brake, if that fails, land
#define AC_FENCE_ACTION_SMART_RTL_OR_LAND 5 // SmartRTL, if that fails, Land
// default boundaries
#define AC_FENCE_ALT_MAX_DEFAULT 100.0f // default max altitude is 100m