Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-23 09:08:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

Plane: move fence disable code to a function to enable reusability

Browse Source
This commit is contained in:
Dr.-Ing. Amilcar do Carmo Lucas 2020-12-14 13:48:57 +01:00 committed by Peter Barker
parent fef8b37b11
commit 4f7ffc5eb1
4 changed files with 22 additions and 14 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
ArduPlane/Plane.h
View File

@ -929,6 +929,7 @@ private:
// fence.cpp // fence.cpp
void fence_check(); void fence_check();
bool fence_stickmixing() const; bool fence_stickmixing() const;
void disable_fence_for_landing(void);
#endif #endif
// ArduPlane.cpp // ArduPlane.cpp

15
ArduPlane/commands_logic.cpp
View File

@ -383,21 +383,8 @@ void Plane::do_land(const AP_Mission::Mission_Command& cmd)
} }
#if AC_FENCE == ENABLED #if AC_FENCE == ENABLED
switch(fence.auto_enabled()) { disable_fence_for_landing();
case AC_Fence::AutoEnable::ALWAYS_ENABLED:
fence.enable(false);
gcs().send_text(MAV_SEVERITY_NOTICE, "Fence disabled (auto disable)");
break;
case AC_Fence::AutoEnable::ENABLE_DISABLE_FLOOR_ONLY:
fence.disable_floor();
gcs().send_text(MAV_SEVERITY_NOTICE, "Fence floor disabled (auto disable)");
break;
default:
// fence does not auto-disable in other landing conditions
break;
}
#endif #endif
} }
void Plane::do_landing_vtol_approach(const AP_Mission::Mission_Command& cmd) void Plane::do_landing_vtol_approach(const AP_Mission::Mission_Command& cmd)

18
ArduPlane/fence.cpp
View File

@ -126,4 +126,22 @@ bool Plane::fence_stickmixing(void) const
// normal mixing rules // normal mixing rules
return true; return true;
} }
void Plane::disable_fence_for_landing(void)
{
switch (fence.auto_enabled()) {
case AC_Fence::AutoEnable::ALWAYS_ENABLED:
fence.enable(false);
gcs().send_text(MAV_SEVERITY_NOTICE, "Fence disabled (auto disable)");
break;
case AC_Fence::AutoEnable::ENABLE_DISABLE_FLOOR_ONLY:
fence.disable_floor();
gcs().send_text(MAV_SEVERITY_NOTICE, "Fence floor disabled (auto disable)");
break;
default:
// fence does not auto-disable in other landing conditions
break;
}
}
#endif #endif

2
ArduPlane/quadplane.cpp
View File

@ -1306,7 +1306,9 @@ void QuadPlane::init_qland(void)
#if LANDING_GEAR_ENABLED == ENABLED #if LANDING_GEAR_ENABLED == ENABLED
plane.g2.landing_gear.deploy_for_landing(); plane.g2.landing_gear.deploy_for_landing();
#endif #endif
#if AC_FENCE == ENABLED
plane.disable_fence_for_landing(); plane.disable_fence_for_landing();
#endif
} }