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Plane: disable fences for landing by suppressing in the fence check rather than using a state machine

This commit is contained in:
Andy Piper 2024-05-31 14:13:32 +01:00 committed by Peter Barker
parent 04dd7de1ed
commit 46d6d0bf03
5 changed files with 9 additions and 15 deletions
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4
ArduPlane/commands_logic.cpp
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@ -434,10 +434,6 @@ void Plane::do_land(const AP_Mission::Mission_Command& cmd)
// if we were in an abort we need to explicitly move out of the abort state, as it's sticky // if we were in an abort we need to explicitly move out of the abort state, as it's sticky
set_flight_stage(AP_FixedWing::FlightStage::LAND); set_flight_stage(AP_FixedWing::FlightStage::LAND);
} }
#if AP_FENCE_ENABLED
plane.fence.auto_disable_fence_for_landing();
#endif
} }
#if HAL_QUADPLANE_ENABLED #if HAL_QUADPLANE_ENABLED

10
ArduPlane/fence.cpp
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@ -9,8 +9,16 @@ void Plane::fence_check()
{ {
const uint8_t orig_breaches = fence.get_breaches(); const uint8_t orig_breaches = fence.get_breaches();
uint16_t mission_id = plane.mission.get_current_nav_cmd().id;
bool is_in_landing = plane.flight_stage == AP_FixedWing::FlightStage::LAND
#if HAL_QUADPLANE_ENABLED
|| control_mode->mode_number() == Mode::Number::QLAND
|| control_mode->mode_number() == Mode::Number::QRTL
#endif
|| (plane.is_land_command(mission_id) && plane.mission.state() == AP_Mission::MISSION_RUNNING);
// check for new breaches; new_breaches is bitmask of fence types breached // check for new breaches; new_breaches is bitmask of fence types breached
const uint8_t new_breaches = fence.check(); const uint8_t new_breaches = fence.check(is_in_landing);
if (!fence.enabled()) { if (!fence.enabled()) {
// Switch back to the chosen control mode if still in // Switch back to the chosen control mode if still in

4
ArduPlane/mode_auto.cpp
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@ -54,10 +54,6 @@ void ModeAuto::_exit()
} }
#endif #endif
if (restart) { if (restart) {
#if AP_FENCE_ENABLED
// no longer landing to re-enable the possiblity of the fence floor
plane.fence.reset_fence_floor_enable();
#endif
plane.landing.restart_landing_sequence(); plane.landing.restart_landing_sequence();
} }
} }

3
ArduPlane/mode_qland.cpp
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@ -16,9 +16,6 @@ bool ModeQLand::_enter()
#if AP_LANDINGGEAR_ENABLED #if AP_LANDINGGEAR_ENABLED
plane.g2.landing_gear.deploy_for_landing(); plane.g2.landing_gear.deploy_for_landing();
#endif #endif
#if AP_FENCE_ENABLED
plane.fence.auto_disable_fence_for_landing();
#endif
return true; return true;
} }

3
ArduPlane/quadplane.cpp
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@ -3554,9 +3554,6 @@ bool QuadPlane::verify_vtol_land(void)
poscontrol.pilot_correction_done = false; poscontrol.pilot_correction_done = false;
pos_control->set_lean_angle_max_cd(0); pos_control->set_lean_angle_max_cd(0);
poscontrol.xy_correction.zero(); poscontrol.xy_correction.zero();
#if AP_FENCE_ENABLED
plane.fence.auto_disable_fence_for_landing();
#endif
#if AP_LANDINGGEAR_ENABLED #if AP_LANDINGGEAR_ENABLED
plane.g2.landing_gear.deploy_for_landing(); plane.g2.landing_gear.deploy_for_landing();
#endif #endif