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AP_Arming: fixed auto-enable of fence with forced arm 

when a user forced armed and had FENCE_AUTOENABLE=3 for enable on
arming then the fence did not enable
This commit is contained in:
Andrew Tridgell 2023-08-08 07:09:24 +10:00
parent 0f46cd7a34
commit 49e9cac9c0
1 changed files with 13 additions and 10 deletions
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23
libraries/AP_Arming/AP_Arming.cpp
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@ -1516,16 +1516,6 @@ bool AP_Arming::arm_checks(AP_Arming::Method method)
} }
} }
#if AP_FENCE_ENABLED
AC_Fence *fence = AP::fence();
if (fence != nullptr) {
// If a fence is set to auto-enable, turn on the fence
if(fence->auto_enabled() == AC_Fence::AutoEnable::ONLY_WHEN_ARMED) {
fence->enable(true);
}
}
#endif
// note that this will prepare AP_Logger to start logging // note that this will prepare AP_Logger to start logging
// so should be the last check to be done before arming // so should be the last check to be done before arming
@ -1603,6 +1593,19 @@ bool AP_Arming::arm(AP_Arming::Method method, const bool do_arming_checks)
} }
#endif #endif
#if AP_FENCE_ENABLED
if (armed) {
auto *fence = AP::fence();
if (fence != nullptr) {
// If a fence is set to auto-enable, turn on the fence
if (fence->auto_enabled() == AC_Fence::AutoEnable::ONLY_WHEN_ARMED) {
fence->enable(true);
gcs().send_text(MAV_SEVERITY_INFO, "Fence: auto-enabled");
}
}
}
#endif
return armed; return armed;
} }